Computer-assisted generation of robot dynamic models in an analytic form

Probabilistic models, generic numerical methods in probability and statistics (65C20) Computing methodologies and applications (68U99) Dynamics of a rigid body and of multibody systems (70E99) Linear vibration theory (70J99) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Multivariable systems, multidimensional control systems (93C35)

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An algorithm for constructing dynamic models of single-arm robots is presented in this paper. Motion equations of robots in analytical form are derived applying a fully automated procedure. It is shown that the solution of a direct and/or inverse problem based on the analytical model requires considerably fewer floating-point multiplications/additions than is the case with previously-developed numerical methods. The developed method is therefore very suitable for real-time application of robot dynamic models. The developed program package is illustrated using the example of a Stanford manipulator.

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