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Abstract
This paper presents an efficient dynamic analysis of tree structure robot arms. The computational approach used is based on Lagrange equations of motion. The Topological Structure matrix {TSM [ϵ]} completely describes the robot arm structure. This matrix plays an important role in this analysis. The separation of the link's geometry from the joint's motion is necessary for the systematization of such a procedure. The computation procedure is efficiently organized in order to produce the smallest possible computation time. An example of a 7-link robot arm with two end-effectors is presented to clarify the computation steps leading to the dynamic model of any tree structure robot arm. This analysis can be easily applied to simple chain robot arms considered as a special case of the tree structure type.
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