An efficient algorithm for automatic generation of manipulator dynamic equations

An algorithm generating the dynamic equations of the manipulator in a symbolic form is presented. The proposed algorithm is based on a modified Lagrange-Christoffel formulation of robot dynamics. A PC-based program, ARDEG, implements the algorithm and automatically generates the equations of motion for open-chain manipulators in a symbolic form. Various types of manipulators are investigated to evaluate the efficiency of the program. In a 3-DOF PUMA robot, the ARDEG-generated algorithm reduces the computational load of a general Newton-Euler recursive algorithm by 80% and that of a recursive algorithm generated by the computer program ARM by more than 22%