Abstract
Dynamics analysis of industrial robots with a constraint (closed loop) dynamic system is often needed under the operating conditions such as incertion, deburring etc. Authors have been developing dynamic simulation programs for open loop dynamic system with arbitary consttruction of robots. Appel's method is used for description of equation of motion in these programs. Since industrial robots are often used under various constraint conditions, it is preferable to simulate robot motions under various operating conditions if the direction and degree of freedom of the constraint can be arbitrarily selected in programs.
In this respect, this paper first refers to an analytical method of closed loop dynamics inducing Lagrange multipliers to Appel's method, leading to easily extend from analysis of open-loop dynamics to that of closed one. Then, numerical analysis of robot motion are carried out under a restrict condition and the validity of this method is shown.
