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When modeling complex robot systems such as branched robots, whose kinematicstructures are a tree, current techniques often require modeling the wholestructure from scratch, even when partial models for the branches areavailable. This paper proposes a systematic modular procedure for the dynamicmodeling of branched robots comprising several subsystems, each composed of anarbitrary number of rigid bodies, providing the final dynamic model by reusingprevious models of each branch. Unlike previous approaches, the proposedstrategy is applicable even if some subsystems are regarded as black boxes,requiring only twists and wrenches at the connection points between them. Tohelp in the model composition, we also propose a weighted directed graphrepresentation where the weights encode the propagation of twists and wrenchesbetween the subsystems. A simple linear operation on the graph interconnectionmatrix provides the dynamics of the whole system. Numerical results using a24-DoF fixed-base branched robot composed of eight subsystems show that theproposed formalism is as accurate as a state-of-the-art library for roboticdynamic modeling. Additional results using a 30-DoF holonomic branched mobilemanipulator composed of three subsystems demonstrate the fidelity of our modelto a modern robotics simulator and its capability of dealing with black boxsubsystems. To further illustrate how the derived dynamic model can be used inclosed-loop control, we also present a simple formulation of a model-basedwrench-driven pose control for branched robots.

Dynamic Modeling of Branched Robots using Modular Composition