The equations of motion of maniPulation robots take into account the inertia of the drive. The equations are derived from the Lagrange equations and matrices of homogeneous coordinates. Equations can determine the efforts develoPed by the drives, and local efforts to links maniPulation system. Matrix of gyroscoPic moments is singled out in the equations. The matrix reflects the effect of drives inertia on the motion of the links of maniPulation systems. The equations have a matrix structure, convenient for comPuter simulation.