Robot dynamics: equations and algorithms

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 07 Nov 2002Publisher:IEEEJournal:Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), volume 1, pages 826-834

Authors: Roy Featherstone; David E. Orin;

doi: 10.1109/robot.2000.844153

Robot dynamics: equations and algorithms

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Abstract

This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day. Equations and algorithms are given for the most important dynamics computations, expressed in a common notation to facilitate their presentation and comparison.

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