Dynamics modeling method dedicated to system models with open- and closed-loop structures subjected to kinematic and task based constraints

Abstract The paper presents a development of an automated computational procedure for constrained dynamics (CoPCoD) dedicated to derivation dynamical models mechanical systems, e.g. manipulators, both ground and space or mobile robotic which can be composed rigid flexible links. They may subjected constraints, are referred as programmed, come from performance requirements, work services system is to. CoPCoD structure offers systematic modeling either open closed loop structures results in computationally efficient numerical equations derivation. has its background the generalized programmed motion (GPME) algorithm developed successfully systems high order nonholonomic however, GPME was not fully computer equation derivations. two main motivations that underlie extend make it derivations large classes systems. general scheme architecture examples illustrate application advantages.