GENERALIZATION OF NEWTON-EULER MODEL FOR FLEXIBLE MANIPULATORS

In this article we propose an extension of the Newton-Euler models to the case of flexible robots. Such models are mainly used today for rig id manipulators. In this case they have given the best results to solv e the simulation and control problem, as far as time consumption and p rogramming simplicity are concerned. The extension that we propose is based on the theoretical notion of description formalism of a motion a nd on the use of the D'Alembert principle. The proposed model is intri nsic and concerns any open chain with ponctual joints. (C) 1996 John W iley & Sons, Inc.