Alternative methods for the analysis of robot arm dynamics

摘要

Abstract Beginning with an outline of the accepted methods for kinematic analysis of robot manipulators, the structure of the dynamical system is provided using two complementary approaches. The first of these is based on Lagrangian techniques while the second is a modified version of Hollerbach's recursive formula. The results of both methods are demonstrated for the particular case of a PUMA robot, and the code for both algorithms is provided in the Appendix.