A homogeneous matrix approach to 3D kinematics and dynamics .2. Applications to chains of rigid bodies and serial manipulators

In this paper we present applications of the new approach to the kinematic and dynamic analysis of systems of rigid bodies presented in Part I. An extension of the method to the Lagrangian formulation of the dynamics of chains of rigid bodies is also presented. The kinematic and dynamic analysis is preformed for a generic serial manipulator either in open and closed loop. Two numerical examples concerning an open loop and a closed loop are presented too. Two software packages based on our approach are also briefly introduced. (C) 1996 Elsevier Science Ltd.