Abstract: In view of the fact that changes of the kinematic and dynamic parameters of the end-effecter with the clamped object result from different clamped objects, this paper presents a new numeric-symbolic dynamic model of the manipulator-object system, by using which and choosing the local coordinate system attached to the end-effecter as the reference coordinate system, the serious problem with the numeric-symbolic dynamic model which arise from sudden changes in the kinematic and synamic parameters of the end-effecter through picking up different objects is solved and the number of operation in computer-aided generation process and solving process of the numeric-symbolic dynamic model of the robotic manipulator is significantly reduced.

Key words: 动力学, 机器人