Connected multi-body systems exhibit extremely complicated behavior when driven by external and internal forces and torques. The problem of constructing the internal forces and torques from the movements and known external forces is called the “inverse dynamics problem”, whereas calculating motion from known internal forces and torques and resulting reaction forces is called the “forward dynamics problem”. There are several ways to calculate the dynamics equations including Newton–Euler method, Lagrange’s method and Featherstone’s method.
Analytical Dynamic Algorithm based on Newton–Euler and Lagrange
In my dynamic construction, I will propose another method to calculate the inertial, Coriolis and Gravity matrix by using analytical approach instead of using numerical method based on Newton–Euler method and Lagrange’s method. Two links model is an easy example to check my algorism and perform force control simulation. In the final, I will extend my Analytical Dynamic Algorithm to multiple degrees of freedom and even prismatic joint can be taken into considerations.
Prismatic Robotic Arm in Forward Dynamic Simulation
After finishing the traditional analytical dynamic algorism in revolute-joint-type -robotic arm. I extended this method to all types of joints including prismatic joints. The animation shows about how to use torque and force control to control the prismatic and revolute joint robot.