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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].

2 Foundational Work in Robot Dy-namics Early e orts in robot dynamics were directed to ex-pressing the equations of motion for robot manipula-tors, and other single open-chain systems, in the most e cientform. Algorithmsweredevelopedforthe most common computations for robot analysis, control, and simulation. In this section, emphasis will be ...

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