EFFICIENT SIMULATION ALGORITHM FOR ROBOTIC MANIPULATOR DYNAMICS

Presented in this paper is a computationally efficient algorithm for the direct dynamics of serial-type robotic manipulators. The efficiency primarily comes from the use of a modified set of Hartenberg-Denavit (HD) parameters and the utilization of cross-product tensors in the dynamic model. The generalized inertia matrix required for the direct dynamics is computed as the matrix product of the natural orthogonal complement of the matrix of linear homogeneous velocity constraints and the extended mass matrix, which results in an efficient compulation of the generalized Inertia matrix. Computational complexity for the direct dynamics is also presented.