Recursive Dynamics for Fixed-Base Robotic Systems

In this chapter, dynamic analyses of fixed-base robotic systems are presented using the dynamic modeling presented in Chap. 5. For this, recursive inverse and forward dynamics algorithms are developed. The algorithms take care of the multiple-DOF joints in an efficient manner, as explained in Sect. 4.2.1; in contrast to treating them as a combination of several 1-DOF joints by taking into account the total number of links equal to number of 1-DOF joints or joint variables. In the presence of many multiple-DOF joints in a robotic system the latter approach is relatively inefficient due to the burden of unnecessary computations with zeros. The improvement in the computational efficiency in the presence of multiple-DOF joints are addressed in this chapter. Dynamic analyses, namely, the inverse and forward dynamics, of several systems are performed in this chapter.

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