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.
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