Algorithm for dynamics evaluation

In this article, an algorithm for the evaluation of unconstrained system dynamics is proposed. The algorithm is based on an optimal motion plan and two first-order equations expressed in terms of generalized velocity components. The equations arise from decomposition of the system mass matrix, and their use gives some insight into internal couplings. The algorithm makes it possible not only to evaluate the couplings but also to change a set of mechanical parameters in order to improve the behaviour of the system and to reduce the control effort. The presented strategy is illustrated in a simulation of a two-degree-of-freedom planar mechanical system.