Manipulator Dynamics Using the Extended Zero Reference Position Description

摘要

A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. This description can be learned quickly and is not prone to the errors of interpretation. It has previously been used to derive closed form inverse kinematic solutions for simple manipulators as well as to develop efficient numerical solutions for general manipulators. This paper develops manipulator dynamics in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented in this paper. (Author)