Lagrange and Newton-Euler dynamic modeling of a gear-driven robot manipulator with inclusion of motor inertia effects

This paper is aimed at presenting the dynamic model of a gear-driven rigid robot manipulator. The dynamic effects of the motion of the motors driving the joints through gears are analyzed. A complete model is derived using the Lagrange formulation in which the contributions of rotor inertias and rotor-link interactions are evidenced. The resulting equations of motion are shown to be linear in terms of a suitable set of dynamic parameters for the augmented links (links with motors). These are utilized for model derivation using the recursive Newton-Euler formulation. The explicit dynamic model far an elbow manipulator is developed.