Abstract: A simple analytical model
method for dynamics of robotic manipulators is proposed. Problem
of deriving model matrix elements is transformed into problem of
solving for driving force and driving torque under specified
condition by recursive dynamic equations. Expressions of
reaction force in arbitrary joint in numeric-symbolic form are
also derived. The properties of model matrices are given.
Corresponding software which can recognize and manipulate
symbols is developed and can be used to generate model and
real-time code of robotic dynamics.
Key words:
Robotic manipulator Analytical
model
* This project is supported by National Natural Science Foundation of
China. Manuscript received on April 15, 1994;revised manuscript
May 30, 1994
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