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An efficient recursive approach for computer generation of manipulator dynamic model

Journal Article


Abstract


  • According to the structural characteristics of the serial robot arm, on the basis of multi-rigid-bodies dynamics, the vectorial and complete recursive dynamical equations are derived first by means of D'Alembert's principle, and a new, complete recursive algorithm is presented in this paper. These dynamical equations are succinct in form and compact in structure. The recurrence formula obtained is very simple and direct; it is suitable for robots dynamic realtime computed. Furthermore, we used the augmented body and composite system for the serial robot arm in the dynamical model; it makes the dynamical calculation simple and raises the computational efficiency. It suits to the positive or inverse problems of dynamics. It is a computer-oriented algorithm that forms and solves dynamical equations automatically. �� 1994.

UOW Authors


  •   Basu, Ani (external author)

Publication Date


  • 1994

Citation


  • Fang, Y. J., Basu, A., Fang, X. D., & Wang, Z. Z. (1994). An efficient recursive approach for computer generation of manipulator dynamic model. Mathematical and Computer Modelling, 20(9), 89-96. doi:10.1016/0895-7177(94)00165-0

Scopus Eid


  • 2-s2.0-43949157760

Web Of Science Accession Number


Start Page


  • 89

End Page


  • 96

Volume


  • 20

Issue


  • 9

Place Of Publication


Abstract


  • According to the structural characteristics of the serial robot arm, on the basis of multi-rigid-bodies dynamics, the vectorial and complete recursive dynamical equations are derived first by means of D'Alembert's principle, and a new, complete recursive algorithm is presented in this paper. These dynamical equations are succinct in form and compact in structure. The recurrence formula obtained is very simple and direct; it is suitable for robots dynamic realtime computed. Furthermore, we used the augmented body and composite system for the serial robot arm in the dynamical model; it makes the dynamical calculation simple and raises the computational efficiency. It suits to the positive or inverse problems of dynamics. It is a computer-oriented algorithm that forms and solves dynamical equations automatically. �� 1994.

UOW Authors


  •   Basu, Ani (external author)

Publication Date


  • 1994

Citation


  • Fang, Y. J., Basu, A., Fang, X. D., & Wang, Z. Z. (1994). An efficient recursive approach for computer generation of manipulator dynamic model. Mathematical and Computer Modelling, 20(9), 89-96. doi:10.1016/0895-7177(94)00165-0

Scopus Eid


  • 2-s2.0-43949157760

Web Of Science Accession Number


Start Page


  • 89

End Page


  • 96

Volume


  • 20

Issue


  • 9

Place Of Publication