Establishing of Dynamic Control Functions for a Hybrid Robot Based on Analytical Mechanics Principles

The use of complex mechanical systems in different tasks assumes the controlling of each motor from the kinematic joints known as dynamic control equations. The moving differential equations for any mechanical system can be expressed very efficiently based on principles from Analytical Mechanics, among which the method developed by Lagrange—Euler provides explicit equations of motion. The Lagrange—Euler second kind formalism is an analytical approach extremely useful in modelling of multibody systems which uses an important notion in dynamics—kinetic energy. These equations can be used to analyze and devise advanced control strategies by mathematical modeling based on mathematical algorithms. In this paper, for two robot structures (serial and mobile), considering that are working independently, will be established the dynamic control functions, using a generalized algorithm, consisting in geometrical, kinematical and dynamical modeling.