Fast inverse dynamics computation in real-time robot control

Two fast computational schemes for robot inverse dynamics are presented. One scheme is designed to implement the inverse dynamics computation for a robot in real-time on a microcomputer with only one processor. In this scheme, two efficient algorithms that are computationally the fastest of all the existing single-processor-based algorithms for the robot inverse dynamics computation are proposed. The scheme is designed to implement in parallel the real-time inverse dynamics computation for a robot on a microcomputer with three processors. The proposed algorithms have been verified by computing the inverse dynamics of a PUMA 560 robot arm with six degrees-of-freedom