Design and dynamics control of a lightweight 6-axis collaborative robot

The 6-axis robots are highly flexible and controllable, making them essential to the manufacturing industry. With the right motion planning, robots may do a variety of challenging jobs. However, due to their complex, nonlinear nature, controlling robots is influenced by several factors. Achieving high precision and intelligent, networked operation requires a comprehensive understanding of robot control. This paper presents an approach for designing and controlling a lightweight 6-axis collaborative robot. Firstly, a novel design method is proposed and implemented to fabricate the robot. Secondly, we identified the kinetic parameters and joint friction of the fabricated robot to obtain a better understanding of its motion dynamics. Lastly, we developed a kinetic control strategy based on the identified parameters and friction, which enables the robot to perform precise movements even in complex environments.