Impedance-Loading Method for Dynamic Modeling of Flexible Robotic System Based on Principle of Dynamical Balance

Abstract

This paper proposes a method to derive the dynamic model of flexible robotic systems using impedance-loading based on the principle of dynamical balance. First, we show how the dynamics of two subsystems can be combined into a single composite dynamics via loading constraints. In this process, the impedance-loading is achieved by deriving the d'Alembertian wrench from the impedance model in the Lie group SE3 instead of single body dynamics. This allows us to make the dynamic model on the flexible motion between rigid bodies up to six-DoFs (six-degrees-of-freedom). Finally, the behavior of the dynamic model constructed using the proposed method is validated by two simulation results such as a two-link manipulator including the flexible hinge joint and a tensegrity mechanism mimicking the flexible universal joint. © 2025 IEEE.