Constraint Force Formulation for Industrial Manipulators

A systematic methodology for the constraint forces analysis for designated joints is developed in a serial industrial manipulator. In the method, the system equations of motion are derived using the recursive Newton-Euler equations while constraint forces are determined non-recursively for designated joints. To validate the method, the six-DOF Stanford and PUMA robots are analysed. Accuracy of the results are compared using RIDIM (recursive inverse dynamics industrial manipulator), an in-house software. The same results are obtained from the proposed method and from the RIDIM