A NOVEL APPROACH FOR SPATIAL ROBOT MODELING AND SIMULATION

In this paper a novel approach for spatial robot modeling and simulation is presented. Such method uses the result for which the forward dynamics problem of a robot can be solved, in a simple and efficient manner, by analytically or numerically computing the inertia matrix and the potential energy gradient only. For spatial robots with generic shape links, in a simple way, some theorems are formulated and proved and some algorithms are provided. They allow efficiently computing, analytically or numerically, both the inertia matrix and the gradient of the potential energy. Moreover, the efficiency of the proposed method is compared to the efficiency of the Articulated-Body one.