Computation of Driving Efforts for Mechanisms and Robots Using Bond Graphs

摘要

A method is presented for computing scalar closed-form driving effort expressions for the desired state of motion to be used as feedforward for mechanisms and robotic manipulators using bond graphs. The final torque equation for each of the joints is free from any iterations or recursions and can be broken in smaller modules with lesser arithmetic operations in comparison to existing procedures, leading to a solution with maximum degree of parallelism.