Impedance-Loading Method for Dynamic Modeling of Flexible Robotic System Based on Principle of Dynamical Balance

This paper proposes a method to derive the dynamic model of flexible robotic systems using impedance-loading based on the principle of dynamical balance. First, we show how the dynamics of two subsystems can be combined into a single composite dynamics via loading constraints. In this process, the impedance-loading is achieved by deriving the d'Alembertian wrench from the impedance model in the Lie group <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$S E(3)$</tex> instead of single body dynamics. This allows us to make the dynamic model on the flexible motion between rigid bodies up to six-DoFs (six-degrees-of-freedom). Finally, the behavior of the dynamic model constructed using the proposed method is validated by two simulation results such as a two-link manipulator including the flexible hinge joint and a tensegrity mechanism mimicking the flexible universal joint.