STANDARD AND DIAGONALIZED LAGRANGIAN DYNAMICS FOR ROBOT MANIPULATORS

In this paper we compare standard and diagonalized Lagrangian robot dy namics equations. This comparison is motivated by recently developed d iagonalized equations of motion for multibody open kinematic chains wi th N degrees of freedom [3]. These equations are derived by making use of new joint velocity variables, v, which can Be viewed as time-deriv ative of Lagrangian quasi-coordinates, similar to those of classical m echanics. A detailed computational complexity analysis of the standard and diagonalized Lagrangian robot dynamics algorithms is discussed in the paper. The results have been compared with those existing in the robotics literature.