THEORY OF DECOMPOSITION OF DYNAMIC MODEL MATRIX AND DYNAMIC ROBOT MODEL IN CLOSED FORM

This paper presents a theory of dynamic model matrix and dynamic model ofrobotic manipulator with n links and shows a decomposition property of dynamicmodel matrix and dynamic robot model.The theory presented here provides a basis forsolving,with numeric-symbolic method,a serious problem which arises from suddenchangcs of kinematic and dynamic parameters of end-effctor while picking objects,and drovides also a basis for implementation of dynamic algorithm for settingand solving dynamic robot model in closed form on multiprocessor systems.