A General Reduced Dynamic Model For Control And Simulation Of Constrained Robots

Diiririg marly industrial robot appli- cations, the end effector coiiies into contact with clxtcmial objects. The analysis and control of tlir constrained iiiotioii of tlie end effector reprcscmt an important class of robotic. problcmis. In this papc'r, we present a general irictliod to derive the state space form for the constrailled systcmi in tlw presence of generally rriodclccl friction forces. Trllis method is based 011 Jourdain's priiiriplc. for wii- strained systems where the total virtual power of the constraint forces axid torques is zero. As a rc- stilt, general and efficient explicit expressions for tlie acceleration statc vector and for tlw wiiitwct forcm are available.