Decomposition and Cross-Product-Based Method for Computing the Dynamic Equation of Robots

Abstract

This paper aims to demonstrate a clear relationship between Lagrange equations and Newton‐Euler equations regarding computational methods for robot dynamics, from which we derive a systematic method for using either symbolic or on‐line numerical computations. Based on the decomposition approach and cross‐product operation, a computing method for robot dynamics can be easily developed. The advantages of this computing framework are that: it can be used for both symbolic and on‐line numeric computation purposes, and it can also be applied to biped systems, as well as some simple closed‐chain robot systems