On the Complexity Analysis of the Coriolis and Centripetal Effects of a 6 DOF Robot Manipulator

The equations used in calculating the different forces and torques which control the movement of a robot manipulator involve a considerable amount of differential and non-linear terms which possess high computational complexity. Centripetal and Coriolis effects are of great importance when the manipulator is moving at high speeds. The previous effects, based on the Lagrangian formulation, have been simplified and a lower order form produced which has reduced computational complexity. Simulation results for a robot arm have been obtained to check for the validity of the derivation.