Dynamic model of robot manipulator in explicit form formulation with dual vectors and the notion of augmented body

Abstract

Abstract This article deals with the dynamic model formulation and computation in explicit form of the inverse dynamic model of a robot manipulator constituted with a simple kinematic chain. We go on with the studies of Pennock and Giordano using the dual vectors, and we introduce the notion of augmented body. Our aim is to obtain the computation of the inverse dynamic model in explicit form with an almost minimal number of arithmetical operations to allow the dynamic control synthesis in real time. The method proposed here requires two steps of computation: first, an intrinsic theoretical computation; second, an extrinsic practical computation using dual matrices. This method is then applied to the robot manipulator COMAU‐POLAR 6000 and compared with the method of Renaud, considered until now the most performant method. This comparison leads to the same number of arithmetical operations with both methods.