Study on the Recursive Algorithms of Mass Center for the Multi-joint Arm Boom Lift Robot

The Denavit-Hatenberg method is introduced into the recursive algorithms of a multi-joint arm boom lift robot mass center to determine the mass-center function of all the main units in the multi-joint arm boom lift robot relative to the(original) coordinate frame when the main units move along with the movement of the lifted load,so as to determine the mass-center function of the whole robot.The curves of the mass-center moving range of the robot in horizontal plane can be plotted by using the mass-center functions.And it also is the feedback propagation function for controlling the multi-joint arm boom lift robot.Finally,the workspace of the multi-joint arm boom lift robot can be accurately determined according to the allowed safe margin for stability.