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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].Whilecomputationale ciencycontinuesto be im-portant forthesimulationandcontrolof increasinglycomplexmechanismsoperatingat higherspeeds,otheraspectsof formulatedwitha compactsetof equationsforeaseof development ,thereshouldbe a clearrelationshipbetweentheseequationsan dtherecur-sive setfromwhich thegreatestcomputationale -ciencyis spatialnotationandspatialoperatoralgebra [11, 29] hasbeenverye ec-tive in ,it is important to developalgorithmswhich have applicability to roboticmech-a

algorithms which have applicability to robotic mech-anisms with general geometries and joint structures. While the early algorithms [23, 33, 10] were applica-0 c 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for ad-vertising or promotional purposes or for creating new collective

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