Some properties of dynamic equations of motion in terms of the eigen-factor quasi-coordinate velocity vector

This paper deals with the properties of a dynamical systems expressed in terms of so called the eigen-factor quasi-coordinate velocities. Using these variables we can diagonalize the mass matrix of a manipulator which implies that at each fixed time instant each joint equation is decoupled from all of the other joint equations. It is shown that the structure of dynamic equations of motion in terms of the eigen-factor quasi-coordinate velocities enables different insights into the manipulator behavior as compared to classical equations. We point out differences between the two formulations.