Simplied Methodology for Obtaining the Dynamic Model of Robot Manipulators

摘要

The main goal of this manuscript is to present a simplification of the Euler-Lagrange methodology, which allows us to simplify the obtaining of dynamic model of a robot using the intrinsic properties of dynamic model, which allows to reduce the computation time when the model is programmed. Using the L2 norm, the proposed methodology is compared with the Euler-Lagrange methodology for obtaining a performance index to determine the proposed simplification efficiency. The main contribution of this manuscript is to present a methodology to obtain the completely symmetric dynamic model.