ABSTRACT
This chapter discusses the principles of dynamic modeling, the approach to the description of dynamics, and the derivation of the mathematical model. Then, special attention is paid to computer-based methods. To complete the information on robot dynamics, the mechanism model should be supplemented with the driving system model. Permanent magnet DC motors are very common actuators with robotic systems. Their main advantage is simple control by varying the input voltage. The formulation of computer procedures for modeling robot kinematics and dynamics made possible the implementation of robot theory for practical work in design and control problems. Computer-aided kinematics enables the transformation of robot coordinates from internal to external and vice versa. The fact that many robot tasks include contact of the end-effector and the robot environment led to the first research on contact dynamics. Calculation of robot dynamics offers a lot of results useful for choosing the appropriate drives and the design of control systems.
