Abstract
Abstract 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.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
