Comparison between Newton-Euler and Automatic Separation Method for SCARA dynamic modeling

摘要

Dynamic modeling of robotic systems is always a challenge, not only because of the calculation complexity, but also because of the difficulties in separating basic elements of the system mass matrix, matrix of Coriolis torques, matrix of centrifugal torques, and the matrix of gravity torques. Automatic Separation Method (ASM) is applied and compared with the traditional Newton-Euler (N-E) recursive procedure using the SCARA robotic system with three Degrees of Freedom (3 DOF). In the comparison of the two methods, it is significant that using the N-E method will require additional computing time and effort to manually separate metrics elements, while the ASM takes no time to achieve the same result. The benefits of ASM can be important for more complex robotic systems, such as industrial robots with 6 or 7 DOF. The results achieved by ASM can be easily written in the form that the N-E recursive procedure delivers, but vice versa is very hard.