Integrated Numerical Analysis Framework for Inertia Tensor and Actuation Torque Estimation Based on the Kinematics and Dynamics of a 6-DOF Manipulator

This study presents an integrated numerical framework for kinematic and dynamic analysis of 6-DOF robot manipulators. The approach combines DH-based forward kinematics, Jacobian-driven inverse kinematics via the DLS method, and the RNEA to compute joint torques and link accelerations while incorporating physical parameters such as mass and inertia. Numerical stability in inertia estimation is ensured through matrix symmetrization and enforcement of the PSD. Implemented in MATLAB, the framework is validated on multiple manipulators, including the PUMA 560 and IRB 140, demonstrating efficient computation, stable convergence, and pose errors within ±0.1 rad. Unlike conventional high-speed dynamics libraries that function as black boxes, the proposed system offers numerical transparency, enabling real-time monitoring and tuning of parameters such as DLS damping and PSD constraints. By unifying kinematics, dynamics, and physically consistent modeling within a single framework, it provides a reliable foundation for bridging simulation and Sim2Real deployment.