Transformation matrix approach to dynamics of manipulative robots

Abstract

This paper considers the problem of defining and solving problems in robot mechanics that is fundamental for successful design and performance of robot control system. It considers a few different approaches for describing dynamics of robots and forming of dynamics models with purpose to get a set of mathematical equations describing activity of torques and forces on robot arm in form of motion equations describing the dynamic behavior of the manipulator. It describes the formulation, characteristics and properties of dynamics equations of motion, which are suitable for control purposes, through three different formulations, whereby advantages and disadvantages of each are described separately. To realize practical application of dynamics calculation and solving them using the PC computer, the method use 3×3 rotation matrices and 4×4 homogeneous transformation matrices.