Rotor dynamics are important for robots that are driven by motors and high gear ratio transmission systems. New generic recursive dynamic formulations of robotic systems with motor rotor effects are presented, where motors can be mounted on inboard or outboard bodies of the actuated joints. An organized form of the system dynamics equations is obtained through adoption of a state vector representation in equation derivation. The influence of rotors on the overall system dynamics are identified. Parallelism of the derived dynamics formulations is then exploited and a real-time parallel computational algorithm is proposed. A seven degree-of-freedom telerobot is used to illustrate rotor dynamics effects in the computational model. A computational speed that is faster than real-time simulation is demonstrated.

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