Development of the generalized Newton equations and a structural matrix for robot manipulators

This paper presents a new dynamic model for robot manipulators which is called the Generalized Newton equations of motion (G-N). The model is developed from the Newton\´s second law. The joint acceleration of the manipulator is found to be inversely proportional to the generalized Newton inertia of the corresponding link while it is directly proportional to the generalized Newton torque of the joint. The external torque contribution for the movement of a specific joint is determined by the developed "structural matrix [λ]" of the manipulator. The model also addresses the controllability issue of the robot system.