Dynamic Modeling of a 3-D Serial Eel-Like Robot

In this paper, we present the dynamic modeling of a 3D-serial underwater eel-like robot using recursive algorithm based on the Newton-Euler equations. The algorithm gives the head accelerations and the joint torques as a function of the joint positions, velocities and accelerations. The proposed algorithm can be considered as a generalization of the recursive Newton-Euler inverse dynamic algorithm of serial manipulators with fixed base. The proposed algorithm is easy to implement and to simulate whatever the number of degrees of freedom of the robot. Simulation results with a 12-spherical joint structure are presented.