Efficient robot inverse and direct dynamics algorithms using microcomputer based symbolic generation

A method is described for automatically generating FORTRAN code for the inverse and direct dynamics solution of robot manipulators. The method is based on an efficient symbolic generation system for the recursive Lagrangian inverse dynamics formulation. Two variations of the original symbolic generation are used to produce routines for use in the direct dynamics solution. The symbolic generation requires minimal input from the user, takes only a few seconds on a microcomputer, and produces very efficient FORTRAN code having among the lowest computational requirements yet reported in the literature