A new method for dynamic modelling of a class of manipulators is introduced. This class includes manipulators with non-fixed bases or those with joints having more than one degree of freedom. By introducing virtual links appropriately, the method allows transformation of these types of manipulators into the ones having fixed bases and one degree of freedom joints. Conventional methods for dynamic modelling of fixed base serial link manipulators with one degree of freedom joints can then be easily employed. Examples of modelling a link with a spherical joint and a non-fixed base planar manipulator are presented.

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