Symbolic Calculation of Robots’ Base Reaction-Force/Torque Equations with Minimal Parameter Set

Abstract

In this paper a new recursive fonnulation of the NEWTON-EULER method for tree-structured kinematic topologies is presented. The algorithm leads to a fonnulation which is linear with respect to the dynamic parameters. Starting from the recursive algo-rithm general simplification and regrouping rules are fonnulated for the reduction of the parameter vector to minimal dimension. The rules are only dependent on the kinematic parameters of each link. The algorithm is efficiently implementable in standard computer algebra programs. It is applied to the calculation of the base reaction force/torque equations which can be used for identification and control of robotic manipulators. The application to a 6-d.o.f. standard industrial robot shows the efficiency of the proposed method.