A new method of dynamics for robot manipulators

A novel method of determining the dynamics for robot manipulators has been developed from Lagrangian mechanics. This method can solve the problem in which the number of computations is numerous when the Lagrange-Euler method is used for deriving a set of closed and explicit-form differential or state equations for robot manipulators. The method can be applied to the design of control systems, the dynamic simulation, and the computation of generalized forces or torques of robot manipulators. The number of computations of using this method is small enough to allow real-time computation on a minicomputer or microcomputer. The whole computational process for deriving the complete dynamic equations of a robot manipulator with n degrees of freedom requires at most (3n³/2+14n² +79n/2-4) multiplications and (7n³/6+10n²+115n/3-10) additions