By applying Newtonian Mechanics, a set of simultaneous equations, with the angular accelerations, the mass center accelerations, and the reactional forces of the links as unknowns, is set up to model the robot systems which are composed of rigid body links. This method can eliminate the laborious work caused by Lagrange's formulation for a high degree-of-freedom system. A computer program for the solutions of dynamics and kinematics of the link system with input torques is developed. An example is given with numerical results and illustrative figures. The problems of controlling a biped walking machine are briefly discussed.
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