LAU, TO-CHOI.

The concept of "generalized manipulator" is introduced, and
the closed form and recursive form dynamical models of the
generalized manipulator are presented in Newton-Euler
formulation. The physical meaning of each term in the
dynamical model is explained.
The dynamical models formulated by the Newton-Euler method
and the Lagrangian-Euler method are proved equivalent. The
dynamical model of the generalized manipulator is reduced to
ordinary manipulators. The reduced dynamical model is shown
identical to existing models. Furthermore, the reduced
dynamical model of the generalized manipulator can be used
to compute forces and torques components along any
direction.
Application of the model to problems of mobile robots and
flexible manipulators is shown.