Dynamic computer simulation of multiple closed-chain robotic mechanisms

The direct problem of dynamics for robotic systems with multiple simple closed chains has been formulated and solved. These systems include multiple robot manipulators performing assembly or cooperative tasks as well as multilegged walking machines. The basic problem in direct dynamics is to determine joint accelerations given the applied torques or forces and the system state. As such its solution will allow control designers to test and evaluate the performances of various control algorithms through computer simulation without having to build several costly prototypes. A unified approach is taken so that a single set of equations may describe dynamics of both multiple manipulators and legged vehicles.