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