The centralized formulation for complete dynamic modelling of robots

The centralized formulation for the inertia element of robot dynamics found by using the composite rigid body is very efficient. However, the correspo nding formulation for the centrifugal, Coriolis, and gravity elements has n ot been addressed. Based on certain special motion states of a composite ri gid body, this article presents the centralized formulation for all the ine rtial, centrifugal, Coriolis, and gravity elements. This formulation shows a very direct relationship with the mass, inertia, and Jacobian matrix colu mns of a composite rigid body. Compared with other modelling formulations, it requires the minimum computational complexity. Thus, highly efficient co mplete dynamic modelling of robots can be achieved. (C) 2000 John Wiley & S ons, Inc.