The Robotic Dynamical Algorithm by Divided Load-Manipulator

Based on the Kane's equation, a new general robotic dynamical algorithm, in which load-manipulator is divided, has been presented. The algorithm with closed-form is efficient in solving the dynamical problems of manipulator with closed-chain or opcned-chain, and generating the dynamical numeric-symbolic model of manipulator by computer. The algorithm has been derived and the characters of the algorithm has been discussed.