Modeling of Robot System Dynamics for CAD Based Robot Programming

A new symbolical formalism is introduced to derive the nonlinear control laws involved in controlled mechanisms. It is shown that the approach called the Direct Nonlinear Decoupling Method (DNDM) allows a direct derivation of the explicit form of control laws from the Lagrangian itself so that dynamical equations of mechanisms are not needed in the analysis and a reduction of the amount of calculations. Finally because the method works for many systems in giving the differential equations of motion, the DNDM is a good candidate for the design of computer codes involved in CAD graphics systems.