On using generalized velocity components for manipulator dynamics and control

In this paper modified first-order decoupled equations of motion for rigid serial manipulators are presented. Motivated the results obtained by Loduha and Ravani [Loduha, T.A., Ravani, B., 1995. On first-order decoupling of equations of motion for constrained dynamical systems. Transactions of the ASME Journal of Applied Mechanics 62, 216.] slightly different inertial quasi-velocities are proposed. Instead of generalized velocity components (GVC) one useful form of GVC's is introduced here. It is shown that the modified quantities (called here modified inertial generalized velocity components-MIGVC) lead to some interesting properties which give different look at manipulator dynamics. Some properties arising from MIGVC are also discussed. An example of 3 d.o.f. 3-D robot DDArm illustrates the results.