Diagonalized dynamics of robot manipulators

A diagonal equation ν˙+C(θ, ν)=ε for robot dynamics is developed by combining mass matrix factorization results with classical Lagrangian mechanics. The nonlinear Coriolis term C(θ, ν) depends on the joint angles θ and the rates ν and does no work. The total joint rates ν=m*(θ)θ˙ are related to the relative joint-angle rates θ˙ by a linear spatial operator m*(θ) mechanized by a base-to-tip spatially recursive algorithm