ABSTRACT
The dynamics of a robot can be formulated conveniently by two techniques. The first is the Lagrange's method, which uses the kinetic and potential energy expressions in terms of the generalized coordinates. The second is the well-known Newton's approach for dynamic systems. In this section we will determine the joint torques and forces for a robot by these two methods. The Lagrangian method will be applied to revolute-jointed two-link and three-link robots. The expressions for the kinetic energy and potential energy are derived by a direct method. The resulting dynamic equations are then given in terms of the dynamic coefficients. Other robot geometries containing prismatic joints are then considered. We finally present the detailed steps in generating the dynamic equations by using the Newton-Euler formulation for a typical two-link robot.
