Abstract—Robot dynamics is considered one of the most important issues in robot design and control. Many techniques were developed to find equations of motion. One of these techniques is Lagrange-Euler method which is suitable for numerical simulation. In this paper an implementation of Lagrange-Euler to find equations of motion for any general multi-axis robot giving only robot configurations is introduced. The program is verified for a 3 Degree-of-Freedom robot. The robot equations of motion are obtained from the implemented program and verified against those obtained using only Lagrange equation. The output of program for the 3 DOF robot was used to find the optimal torque using analytical optimization analysis for a given set of parameters. This procedure analysis can be used as a benchmark analysis for any optimization technique.

Index Terms—dynamics, lagrange-euler, genetic algorithm, trajectory planning, optimal.

Cite: Atef A. Ata, Mohamed A. Ghazy, and Mohamed A. Gadou, "Dynamics of a General Multi-axis Robot with Analytical Optimal Torque Analysis," Journal of Automation and Control Engineering, Vol.1, No.2, pp. 144-148, June 2013. doi: 10.12720/joace.1.2.144-148