DYNAMICS OF CONSTRAINED MECHANICAL SYSTEMS AND ITS APPLICATION IN ROBOTICS - IMPLEMENTATION

In this paper, based on the orthogonality of the tangent space and nor mal space, the construction of the constrained system was studied and two implemental methods were proposed. These two methods make full use of recursive processes which reflect the hierarchical nature of the s tructure of the constrained system. Every recursive step has been stan dardized and the complexity in the dynamic analytical modelling and an alysis has been greatly reduced. A hand-like multibody system is taken as an example to illustrate the usefulness and effectiveness of the m ethods proposed in this paper.