Symbolic Calculation of Robots’ Base Reaction-Force/Torque Equations with Minimal Parameter Set
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.
KeywordsDynamic Parameter Symbolic Calculation Robotic Manipulator Minimal Dimension Rotational Joint
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