Resolución del problema dinámico directo de cadenas abiertas utilizando las ecuaciones de Gibbs-Appell

Abstract

In this work is described a novel method to solve the direct dynamic problem of robots manipulators based on the Gibbs Appell equations of the dynamics. The method is based on the obtaining of the system inertia matrix by means of the Gibbs function hessian. To obtain this matrix, an efficient O(n2) recursive algorithm in tensor notation is proposed, which is used in the elaboration of a FORTRAN program, with this program the movement of a robot PUMA is simulated. The simulation results are compared with those other well-known methods results.