A generalized approach for forward and inverse dynamics of elastic manipulators

In this paper, a general dynamic analysis technique is presented. This technique utilizes the finite element method in solving for internal system forces and joint deflections. The technique considers forward and inverse dynamic analyses. In the forward analysis, the inertial loads are determined using the known acceleration vector. In the inverse analysis, the accelerations of the driven coordinates is determined by solving the dynamic equilibrium equations of the system. The position and velocity vectors are obtained by integrating the acceleration vector. It is shown that this integration procedure can be generalized for multidegree of freedom systems. The location and nature of the driving forces can be modeled to be independent of the system coordinates. Examples are presented to illustrate the analysis technique and its features.