An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations

Abstract

Presented in this paper is an algorithm for the numerical solution of the inverse dynamics of robotic manipulators of the serial type, but otherwise arbitrary. The algorithm is applicable to manipulators containing n joints of the rotational or the prismatic type. For a given set of Hartenbeg-Denavit and inertial parameters, as well as for a given trajectory in the space of joint coordinates, the algorithm produces the time histories of the n torques or forces required to drive the manipulator through the prescribed trajectory. The algorithm is based on Kane's dynamical equations of mechanical multibody systems. Moreover, the complexity of the algorithm pressented here is lower than that of the most efficient inverse-dynamics algorithm reported in the literature. Finally, the applicability of the algorithm is illustrated with two fully solved examples.