Bond Graph Modelling of Robot Dynamics in Constrained Motion

This paper focuses on bond graph modelling of robot system based on bond graph approach. Problem that was addressed is dynamic of constrained motion of robots under hybrid control low. Model developed includes detailed description of both the system and environment as hierarchical multilevel model. Mathematical model was generated in the form of differential-algebraic system that was successfully solved. It was shown that bond graphs can be successfully used for solution of problems in robot dynamics and control.