A Unified Dynamic Model Formulation for Robotic Manipulator Systems

This paper addresses the problem of formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of the unified model over a wide range of manipulator configurations. In addition, it describes the implementation aspects of the unified model. © 2003 Wiley Periodicals, Inc.