A computational scheme of closed link robot dynamics derived by D´Alembert principle

A general and systematic scheme for computing the dynamics of closed link mechanisms is derived using D´Alembert´s principle. To account for the constraints, only the Jacobian matrix of the function which represents the passive joint angles in terms of the actuated ones is required. Given a nonredundant actuator system, this allows a unique representation of the constraints, even for a complicated multi-loop closed link mechanism. The scheme is computationally efficient because it is not necessary to compute Lagrange multipliers. A redundant actuator system is formulated, and the utilization of redundancy is actuation is illustrated