Abstract
This paper presents the derivation of a dynamic model for a robot mechanism including a closed kinematic chain. The model can be used to calculate joint torques and forces from the joint displacements, velocities, and acceleration. The expression in this paper, which is derived using the motor algebra, can be applied without any modification to mechanisms composed of any lower kinematic pairs with single degree of freedom. A comparison of computational complexity with the conventional Newton-Euler formuation is also discussed and it is shown that the formulation derived here offers the better method of dynamic computation of robot mechanisms.
