Representation of a robotic manipulator mechanical subsystem as a component circuit with vector links

Abstract

This paper discusses the formalized representation of a mechanical subsystem of a robotic manipulator as a component circuit with vector links for the purposes of dynamics problems. Set-theoretical definition of a component circuit is represented. A matrix-topological interpretation of the components of solid body and kinematic node is discussed. Component models can be used for mechanical systems modeling and simulation systems software develipment.