COMPUTER-ORIENTED CLOSED-FORM ALGORITHM FOR CONSTRAINED MULTIBODY DYNAMICS FOR ROBOTICS APPLICATIONS

An alternative computer-oriented algorithm for generating the equation s of motion for constrained multibody systems subject to control is pr esented. The algorithm is derived from the principle of virtual work a nd includes the effect of a moving reference frame. The equations of m otion are expanded in a closed form in terms of a minimum set of varia bles. Symbolic implementation, simplification and linearization are di scussed. Computer-based models of a biped robot walking on a vibrating platform are generated. Dynamic behavior of the biped is simulated by implementing the optimal control theory. The study shows that this cl osed-form formalism holds promise in the simulation of constrained rob otic systems.