Hybrid graphs with nonlinear edges as models of oscillating mechanisms of manipulators

A method was previously formulated for modeling nonlinear planar and 3-D systems by means of graphs. These methods, however, cannot be used for mechanisms of robot manipulators due to the specific features of such systems. As a result of studies related to robotics, a new model of the dynamic structure of a system in the form of a matrix hybrid graph has been developed. The corresponding algebraization of this graph leads to a signal flow graph and permits the utilization of the methods presented in these works.