Abstract
This paper describes a solution scheme for inverse dynamics of link mechanisms, which has already been proposed and applied in several inplane motions. In this theory, FEM is used for the discretization of equations of motion. This scheme calculates nodal forces by evaluating equations of motion in a matrix form, and thus information from the entire system can be handled simply, and the torques input to each joint of link mechanisms to achieve required motion are calculated easily. This scheme is suitable to the feed-forward control of closed-loop or continuously link mechanisms, and it may provide good control law. The proposed scheme is implemented in the transverse walking problem of a robot. The results of simulation illustrate the potential that the proposed solution scheme has for the control of walking motion of robot.
