Romansy 13 pp 59-65 | Cite as

Symbolic Calculation of Robots’ Base Reaction-Force/Torque Equations with Minimal Parameter Set

  • Martin Grotjahn
  • Bodo Heimann
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


In this paper a new recursive formulation of the Newton-Euler method for tree-structured kinematic topologies is presented. The algorithm leads to a formulation which is linear with respect to the dynamic parameters. Starting from the recursive algorithm general simplification and regrouping rules are formulated for the reduction of the parameter vector to minimal dimension. The rules are only dependent on the kinematic parameters of each link. The algorithm is efficiently implementable in standard computer algebra programs. It is applied to the calculation of the base reaction force/torque equations which can be used for identification and control of robotic manipulators. The application to a 6-d.o.f. standard industrial robot shows the efficiency of the proposed method.


Dynamic Parameter Symbolic Calculation Robotic Manipulator Minimal Dimension Rotational Joint 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Martin Grotjahn
    • 1
  • Bodo Heimann
    • 1
  1. 1.Institute of MechanicsUniversity of HannoverHannoverGermany

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