Abstract
A method known as spinor method is applied to the study of dynamic model of robot. It merges velocity and angular velocity. Force and moments into an organic whole by their internal relation; and makes Newton-Euler method more concise and efficient. A reference system is formed with respect to the mass center of the arms of robot, which simplifies the calculation of inertial tensor and mass center acceleration. And further reduces work load in calculation, and thus ensures a fast real-time calculation.
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Communicated by Tang Renji
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Ruilin, L., Shaoyin, J. & bi, L. Application of spinor method to the dynamic analysis of robot. Appl Math Mech 17, 77–83 (1996). https://doi.org/10.1007/BF00131297
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DOI: https://doi.org/10.1007/BF00131297