A computational scheme of closed link robot dynamics derived byD'Alembert principle

摘要

A general and systematic scheme for computing the dynamics ofclosed link mechanisms is derived using D'Alembert's principle. Toaccount for the constraints, only the Jacobian matrix of the functionwhich represents the passive joint angles in terms of the actuated onesis required. Given a nonredundant actuator system, this allows a uniquerepresentation of the constraints, even for a complicated multi-loopclosed link mechanism. The scheme is computationally efficient becauseit is not necessary to compute Lagrange multipliers. A redundantactuator system is formulated, and the utilization of redundancy isactuation is illustrated