We find the dynamics equations of motion of robots by two methods: Newton–Euler and Lagrange. The Newton–Euler method is more fundamental and finds the dynamic equations to determine the required actuators’ force and torque to move a robot, as well as the joint forces. Lagrange method provides only the required differential equations that determine the actuators’ force and torque. Dynamics equations of motion for a robot can be found by both Newton–Euler and Lagrange methods. In the Newton–Euler method, each link (ι) is a rigid body and therefore, its translational and rotational equations of motion in the base coordinate frame.
Weight is usually the only external load on middle links of a robot, and reactions from the environment are extra external force systems on the base and end-effector links. The force and moment that the base actuator applies to the first link are F0 and M0, and the force and moment that the end-effector applies to the environment are Fν and Mν. The forward Newton–Euler equations of motion allows us to start from a known action force system (F0, M0), that the base link applies to the link (1), and calculate the action force of the next link. Therefore, analyzing the links of a robot, one by one, we end up with the force system that the end-effector applies to the environment.
Robot Dynamics
Theory of Applied Robotics ; Chapter : 11 ; 609-684
2021-12-08
76 pages
Article/Chapter (Book)
Electronic Resource
English
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