Contribution to Computer Construction of Active Chain Models Via Lagrangian Form

Basic principles underlying the computer construction of the models of open kinematic chains using the recurrent relations from the rigid body kinematics are briefly presented in this paper. A new method for automatic setting of the aforementioned models via second-order Lagrange’s equations is presented. This method provides a realistic basis for the application of complete dynamic models to the real-time control of robots and manipulators.