ABSTRACT
The subject of this chapter is the dynamic analysis of robots modeled using the Newton-Euler method, one of several approaches for deriving the governing equations of motion. It is assumed that the robots are characterized as open kinematic chains with actuators at the joints that can be controlled. The kinematic chain consists of discrete rigid members or links, with each link attached to neighboring links by means of revolute or prismatic joints, i.e., lower-pairs (Denavit and Hartenberg, 1955). One end of the chain is fixed to a base (inertial) reference frame and the other end of the chain, with an attached end-effector, tool, or gripper, can move freely in the robotic workspace and/or be used to apply forces and torques to objects being manipulated to accomplish a wide range of tasks.
