A systematic approach to formulate the dynamic model of a robot with a linkage structure is presented. A dynamic model similar to that of a serial link robot can be obtained with respect to active joints only. The kinetic energy can be formulated from the Newton-Euler equation, and passive joint rates can be eliminated using loop closure equations. Inertial terms can be derived from the kinetic energy; gravitational terms from the potential energy and Lagrangian equation; and the Coriolis and centrifugal terms from the inertial terms and the Lagrangian method. This approach is very efficient for simple mechanisms, most likely to be used in linkage robots.

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