A new method for dynamic analysis of robot

Abstract

In this paper, a new method for the dynamic analysis of robot is developed from the Lagrange-Euler equation. This new method can solve those problems which needs too much amount of calculation when dynamic analysis of robot is performed with Lagrange-Euler method. When it is used in the dynamic analysis of open chain robot with 6 degree-of-freedom, the whole calculating process, including the calculation of the homogeneous transformation matrices needs only 1,436 multiplications and 1,092 additions.