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Robot Dynamics: Equations and Algorithms

Robot Dynamics: Equationsand AlgorithmsRoy FeatherstoneDepartment of ComputerScienceUniversity of Wales,AberystwythPenglais,AberystwythSY2 33DB,Wales,UKDavid OrinDepartment of ElectricalEngineeringOhioStateUniversity Columbus,OH 43210-1272,USAA bstractThispaper reviewssomeof theaccomplishments inthe eldof Robot dynamicsresearch, fromthedevel-opment of therecursive Newton-Euleralgorithmtothepresent day. Equationsandalgorithmsaregivenforthemost important dynamicscomputations,ex-pressedin a commonnotationto IntroductionMany contributionshave beenmadein theareaofrobot eldof thedynamicsof mecha-nisms,theroboticscommunity hasespeciallyfocusedontheproblemof computationale ciency. Infact,many of themoste cient algorithmsindynamics,thatareapplicableto a wideclassof mechanisms,weredeveloped by roboticsresearchers[23, 33, 10].

like compliance in the joint bearings, are relatively easy to incorporate into a rigid-body model; but elas-tic links are more complicated. This problem was ad-dressed by Book [6], who developed an e cient, re-cursive Lagrangian formulation (using 4 4 matrices) of both inverse and forward dynamics for serial chains with exible links.

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