A system graph model of robot manipulator dynamics

A network structure of robot dynamics is discussed. The topology of the network model is presented as a graph with input, intermediate and output variables. Geometric and mass-inertial parameters of the robot links are independent variables while inertial forces, coupling, centrifugal, Coriolis, gravity forces and friction forces are dependent variables for the network. Operators of connections between dependent variables are defined. A parameterization of the operators based on the independent variables is established. En example of a robot with two degrees of freedom is given.