Simplied Methodology for Obtaining the Dynamic Model of Robot Manipulators

Abstract

The main goal of this manuscript is to present a simplification of the Euler-Lagrange methodology, which allows us to simplify the obtaining of dynamic model of a robot using the intrinsic properties of dynamic model, which allows to reduce the computation time when the model is programmed. Using the [Formula: see text] norm, the proposed methodology is compared with the Euler-Lagrange methodology for obtaining a performance index to determine the proposed simplification efficiency. The main contribution of this manuscript is to present a methodology to obtain the completely symmetric dynamic model.