Application of NEWEUL in robot dynamics

AbstractWe consider the simulation of the dynamics of a complex robot system modeled as multibody system with rigid links and flexible drives. The symbolic equations, linearized with respect to a nominal motion, are generated by the program system NEWEUL. From these equations the dynamic behaviour of the system can be determined, using numeric standard procedures.The features of the program system as well as some problems occuring with the use of a symbolic formalism for the determination of equations of motion are discussed. The application of NEWEUL during the simulation of a robot system with complex dynamics leads to efficient program codes in the simulation program and guarantees high accuracy and stability during the numeric evaluation