Kinematic Modeling and Analysis of Robotic Mechanism

Dynamics, associated with velocity, acceleration, and force, is a key performance for the robotic mechanisms working with high speed or under heavy load [1, 2, 3]. Dynamic modeling is the determination of the relation between motions and forces of the robotic mechanism [4, 5]. In general, there are two types of dynamic models [6]. One is direct dynamics that determines the mechanism motion being given the actuated joint forces [7, 8]. The other one is inverse dynamics that determines the actuated joint forces being given the trajectory, velocity, and acceleration of the end-effector or moving platform, which is usually applied in control development or optimal design [9, 10, 11, 12, 13, 14, 15, 16]. This chapter presents the inverse dynamic modeling method based on the FIS theory.