부산대학교 도서관

This study, being divided into two parts, proposes an innovative joint-space dynamics theory for rigid multi-axis system. This paper, being the first part, demonstrates the fundamental principles and presents the detailed mathematical derivation of explicit inverse dynamic equations. To yield an explicit form of dynamic equations, a fully parameterized kinematic chain symbolic system is introduced. Then the Lagrangian equations are furtherly derived to eliminate the redundant terms. The obtained equation has a concise expression which explicitly contains kinematic parameters, dynamic parameters, and joint variables. Moreover, taking advantage of the explicit expression of dynamic equation, this method has fewer modeling processes which only includes coordinate system establishment, parameter determination and parameter substitution. Finally, the correctness of proposed method is validated by a planar 3-axis manipulator example and a 3-axis Mars Rover rocker arm example.