| Abstract: | In this paper, with the use of Euler‐Lagrange formalism, it has been proven which joint variables can influence entries of the inertia matrix and the gravity vector of dynamics of a manipulator relative to the kinematic structure of the manipulator. Some formulas, alternative to well‐known ones, are presented that allow us to compute the inertia matrix and the gravity vector without using a trace operator. These formulas are computationally inexpensive and provide an inspiration for interesting interpretations. Complexity indices are defined that are able to evaluate the complexity of dynamics of manipulators based on their kinematics. A key role of the accumulated pseudoinertia matrix of the manipulator has been shown. © 2002 Wiley Periodicals, Inc. |
