Diagonalized dynamics of robot manipulators

Abstract

A diagonal equation /spl nu//spl dot/+C(/spl theta/, /spl nu/)=/spl epsiv/ for robot dynamics is developed by combining mass matrix factorization results with classical Lagrangian mechanics. The nonlinear Coriolis term C(/spl theta/, /spl nu/) depends on the joint angles /spl theta/ and the rates /spl nu/ and does no work. The total joint rates /spl nu/=m*(/spl theta/)/spl theta//spl dot/ are related to the relative joint-angle rates /spl theta//spl dot/ by a linear spatial operator m*(/spl theta/) mechanized by a base-to-tip spatially recursive algorithm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>