Kinetostatics of a serial robot in screw form

Kinetostatics of a robot is an essential component robotic analysis that includes actuation distribution and torque control. The extant methods mainly include the static transfer formulae force Jacobian matrix algorithms based on Denavit-Hartenberg (D-H) method. They can calculate joint driving torque, but there are some limitations. This paper proposes kinetostatics approach for analyzing serial manipulators. instantaneous work done by external load expressed with reciprocal screw. It key idea to derive equation in screw form determine required at each joint. methodology straightforward programming. Through kinetostatic typical manipulators, this shows process establishing every Plücker coordinates. general spatial manipulator was analyzed solution demonstrates universality method presented paper. In addition, applies all kinds