A computational algorithm for robot dynamics

摘要

An efficient computational algorithm for a third-order robot model is derived. It is based on the Newton-Euler dynamics formulation and follows the method used in the algorithm for the second-order model. The computational complexity is linear with respect to number of degrees of freedom. It is concluded that the proposed algorithm may be used in both simulation and control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>