A near Minimum Iterative Analytical Procedure for Obtaining a Robot-Manipulator Dynamic Model

  • Marc Renaud
Part of the IUTAM Symposium book series (IUTAM)


The dynamic control synthesis of robot manipulators requires a great number of arithmetic operations, and it cannot be effected in real time unless this number is reduced. This paper presents a systematic analytical procedure for obtaining the dynamic model necessary for the dynamic control synthesis. This procedure which uses a Lagrangian formulation is applicable to all manipulators having a simple kinematic chain structure with revolute and/or prismatic joints.

An example shows that the calculation of the dynamic model requires 368 multiplications and 271 additions for a particular 6 revolute joint manipulator using the systematic procedure. The examination of the results shows that only a few simpliciations are a fortiori possible and proves that the procedure is near-minimum.


Generalize Link Robot Manipulator Multi Body System Prismatic Joint Homogeneous Transformation Matrix 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer, Berlin Heidelberg 1986

Authors and Affiliations

  • Marc Renaud
    • 1
  1. 1.Laboratoire d’Automatique et d’Analyse des Systèmesdu Centre National de la Recherche Scientifique 7Toulouse CedexFrance

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