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A new dynamic formulation for robot manipulators containing closed kinematic chains

Published online by Cambridge University Press:  01 May 1999

Xiang-Rong Xu ,
Won-Jee Chung ,
Young-Hyu Choi  and
Xiang-Feng Ma
Xiang-Rong Xu
Affiliation:
Department of Mechanical Design and Manufacturing Chang-Won National University, Changwon 641-773 (Korea). E-mail: [email protected] or: [email protected]
Won-Jee Chung
Affiliation:
Department of Mechanical Design and Manufacturing Chang-Won National University, Changwon 641-773 (Korea). E-mail: [email protected] or: [email protected]
Young-Hyu Choi
Affiliation:
Department of Mechanical Design and Manufacturing Chang-Won National University, Changwon 641-773 (Korea). E-mail: [email protected] or: [email protected]
Xiang-Feng Ma
Affiliation:
Beijing University of Science and Technology, Beijing, 100083 (P.R. China)
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Abstract

This paper presents a new recursive algorithm of robot dynamics based on the Kane's dynamic equations and Newton-Euler formulations. Differing from Kane's work, the algorithm is general-purpose and can be easily realized on computers. It is suited not only for robots with all rotary joints but also for robots with some prismatic joints. Formulations of the algorithm keep the recurrence characteristics of the Newton-Euler formulations, but possess stronger physical significance. Unlike the conventional algorithms, such as the Lagrange and Newton-Euler algorithm, etc., the algorithm can be used to deal with dynamics of robots containing closed chains without cutting the closed chains open. In addition, this paper makes a comparison between the algorithm and those conventional algorithms from the number of multiplications and additions.

Keywords

Closed kinematic chainsRecursive algorithmRobot dynamics
Type
Research Article
Information
Robotica , Volume 17 , Issue 3 , May 1999 , pp. 261 - 267
Copyright
© 1999 Cambridge University Press

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