An Automatic Dynamics Generation Method for Reconfigurable Modular Robot

A method of automatic dynamics generation for modular robots is presented on modular level. The robot’s link parameters are got from the modules’ parameters and the Assemble Incidence Matrix (AIM) describing the module types, assembled orientations and sequence of a given robot configuration. Adjoint atrices are adopted to describe the forward mapping of velocities, accelerations from frames on the (i-1) link to that of the ith link, as well as the dual adjoint matrices are taken to describe the backward mapping of moments and forces between frames on the i and the (i-1)th links. A mathematically consistent recursive approach for dynamics of modular robot is got from the Newton–Euler formula in Lie Group form