A Dynamic Robot Modeling Method

Setting itself upon basic concepts from discrete mechanics, a new method forthe dynamic analysis of robots is developed, based upon the Lagrange-Euler equation.Taking into account the factor of mechanical dinipation (frictional force),a recursive formulation for discrete dynamic robots is given.The amount of mathematical operations involved in such a model is much reduced and emerges as the least among the chief dynamic modeling methods presently in use.With the discrete dynamic robot nodel is viable to design a real-time controller because the model provides a lncidphysical meaning.Simulation experiments with a real robot has confirmed the feasibilityand applicability of the method.