Solution of the robot forward dynamics problem by using a recursive procedure based on the general system logical theory

The paper deals with the forward dynamics problem in robotics. The solution of the problem is found on the basis of a new theory called "general syste m logical theory." It uses operators and transformation of operators extens ively To study objects and their relations in the real world. The basic not ions and operator equations are given. The forward dynamics problem is pres ented as a diagram, called "elementary logical system." The diagram unites a set of variables, a set of operators, and a set of relations between the operators. A generic form of a recursive process using the operators and th e Lie product is described. The convergence of the process is discussed Ori ginal operator procedures dedicated to the links of the robot are proposed. The wanted solution is found at the limit of the recursive process. An exa mple is given, as well. The result obtained illustrates the ability of the theory to study robotics problems. The forward dynamics problem is solved i n a new way and without inversion of the mass matrix of the robot.