The dynamic characteristics of currently used, multi-degrees-of-freedom robots are too complex to analyse and thus it is not possible to design an implementable control algorithm. This paper proposes the guidelines to use in designing an ideal robot whose dynamics are much simpler than those of the conventional robot. It is shown that, even if the proposed design criteria are fulfilled with respect to the wrist only, the dynamic complexity can be drastically removed so that the conventional robot approaches very close to an ideal robot having simple dynamic characteristics. This paper further shows that the ideally designed robot dynamics can be very easily derived from Lagrangian formulation.
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