The inertial characteristics of dynamic robot models

Robot dynamics are embedded in the mathematical foundations of classical mechanics to introduce novel physical interpretations and structural characteristics of the Lagrangian dynamic robot model. Within this framework, the centrality of the inertial matrix emerges. The physical significance of the inertial coefficients is further illuminated by the introduction of the coefficient of coupling of robotic manipulators. The properties of the inertial matrix follow directly from the kinematic and dynamic parameters of the robot. These properties translate into the characteristics of the centrifugal, Coriolis and gravitational components of the dynamic robot model. The novel approach reinforces the need to integrate the mechanical and controller designs of robotic manipulators. The conceptual framework leads to design guidelines for simplifying and reducing the nonlinear kinematic and dynamic coupling of robot dynamics. The development of the paper is applied to illustrate the properties and structural characteristics of industrial robots.