A new dynamic formulation for robot manipulators containing closed kinematic chains

摘要

This paper presents a new recursive algorithm of robot dynamics based on the Kane's dynamic equations and Newton-Euler formulations. Differing from Kane's work, the algorithm is general-purpose and can be easily realized on computers. It is suited not only for robots with all rotary joints but also for robots with some prismatic joints. Formulations of the algorithm keep the recurrence charac- teristics of the Newton-Euler formulations, but possess stronger physical significance. Unlike the conventional algorithms, such as the Lagrange and Newton-Euler algo- rithm, etc., the algorithm can be used to deal with dynamics of robots containing closed chains without cutting the closed chains open. In addition, this paper makes a comparison between the algorithm and those conventional algorithms from the number of multiplications and addi- tlons.