Derivation of dynamic equations of serial robot manipulators with coupled ideal joint motion

Abstract

The objectives of this work are the general derivation of a formal description of the equations of motion for a serial robot manipulator with ideal stiff joints subject to kinematic constraints such as complex mechanical couplings between actuator coordinates and joint coordinates. Therefore, the Lagrangian formalism is deployed for generation of the equations of motion. For evaluation, the feasibility and costs of coupling-induced change from general manipulator configuration description within joint space into actuator space are investigated at various stages during generation of equations of motion. © Springer-Verlag Berlin Heidelberg 2012.