Ivan Virgala^1,, Michal Kelemen¹, Alexander Gmiterko¹, Tomáš Lipták¹

The paper deals with modeling of dynamic model for mechanisms with serial kinematic structure. In the paper one of two basic methods for dynamic modeling is introduced, namely Euler – Lagrange method. The method is based on kinetic and potential energy of mechanism. The process of dynamic modeling analytically is very difficult task especially for kinematically redundant mechanisms. The aim of the paper is to show how can be the process of dynamic modeling automated by suitable algorithm programmed in software Matlab. The paper also show how the computing time increases in dependence on increasing number of mechanism links. This relation is expressed by polynomial function of 3^rd order. At the end of the paper the demonstration of automatically generated inverse dynamic model is shown in cooperation with inverse kinematic model as well as trajectory planning task.

computing time, dynamic model, Euler – Lagrange, redundant mechanism