Algorytm numerycznego generowania równań dynamiki dla pewnej klasy układów mechanicznych

The paper outlines the way of numerical generation of equations of dynamics for a certain class of mechanical systems. The advantages of the Denavit-Hartenberg kinematic notation and homogenous coordinates worked out in robotics are utilized. The outlined algorithm deals with the mechanical systems in the form of simple kinematic chains of rigid links and allows us to consider different elements that don't form any constraints on the generalized coordinates of a principal kinematic chain. The algorithm is applicable to any system that can be presented in the form of such a kinematic chain, not only for robots and manipulators.