An efficient algorithm for the calculation of the filtered dynamic model of robots

Abstract

This paper presents a new method for the calculation of the filtered dynamic model of robots which is used in the adaptive control of robots and in the identification of its inertial parameters. The main characteristics of the method is that no symbolic differentiation is used. The variables used in the algorithm are obtained from the transformation matrices between successive link frames. The number of operations in the general case and for some industrial robots are given.