Abstract: In order to satisfy the requirement of the real time control, the dynamics equation that combines Lagrangian method and recursion Newton-Euler method to solve inverse dynamics is proposed. The trajectory plan of welding robot is made for the purpose of realizing the predefined track by using the joint space method and Cartesian space method. The real-time simulation is given. The results reveal that the different initial angular of joints may lead to the discontinuity acceleration of joints and cause the system to vibrate. Finally, a practical method to avoid the unstable situation is suggested.

Key words: inverse dynamics, computer simulation, robotics