Dynamic Modeling of Robot Manipulators in D-H Frames

This study presents a novel dynamic modelling of a rigid serial manipulator using a compact formula of inertia tensor to simplify dynamic modelling and mathematical transformations. The matrix transformation is used appropriately as a powerful tool for this purpose. The kinetic energy, the potential energy and the inertia matrix of manipulator all are formulated in Denavit-Hartenberg frames (D-H) for deriving the dynamic model. This modelling approach is derived directly from the kinematic results in D-H frames. The proposed approach is simpler with fewer calculations in comparing with conventional approach which requires additional calculations in the center of mass frames (COM). The extreme calculations in the conventional approach are done to form inertia matrix of manipulator where the terms of manipulator Jacobian must be reformed due to COM frames.