The analysis of simple robots using bond graphs

The application of bond graph modeling of robotic manipulators is demonstrated by progressively developing a distributed mass model of a two-link robot. The use of additional damping elements, for overcoming the numerical instability caused by the excessive loop gains associated with dependent inertias, has been demonstrated and its validity verified. The use of bond graphs to model robots and study their behaviors is preferable compared to other such methods since, with the bond graph, change can be easily implemented by modifying the model without reformulating the system equations.