Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 39

In Chapter 6 we develop techniques based on Lagrangian dynamics for systematically deriving the equations of motion for serial-link manipulators. Deriving the dynamic equations of motion for robots is not a simple task due to the large number of degrees of freedom and the nonlinearities present in the system. We also discuss the so-called recursive Newton–Euler method for deriving the robot equations of motion. The Newton–Euler formulation is well-suited for real-time computation for both simulation and control applications.