Generalization of Newton—Euler Model for Flexible Manipulators

摘要

In this article we propose an extension of the Newton-Euler models to the case of flexible robots. Such models are mainly used today for rigid manipulators. In this case they have given the best results to solve the simulation and control problem, as far as time consumption and programming simplicity are concerned. The extension that we propose is based on the theoretical notion of description formalism of a motion and on the use of the D'Alembert principle. The proposed model is intrinsic and concerns any open chain with ponctual joints.