Abstract
This paper presents a novel method that uses parallel and perpendicular concepts to develop the efficient closed-form dynamic equations for robot manipulators. The proposed method applies to any rigid-link robot manipulator with rotational and/or translational joints. The high computational efficiency of the method can make the development of the closed-form dynamic equation for robot manipulators to be implemented on a current microcomputer in real-time. For a general industrial robot manipulator with six degrees-of-freedom, the method needs at most 568 multiplications and 582 additions for this development including the computation of all the dynamics coefficients and actuaor forces/torques of the robot manipulator. For a practical six-link manipulator, the number of mathematical operations of the method is certainly much less than this due to the fact that many parallel and/or perpendicular relationships exist between axes of the distinct link coordinate systems. As generally compared with other existing method for the above purpose, the method proposed in this paper has significantly higher computational efficiency and is computationally the fastest of all the existing methods.
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