Title :
Robot dynamics: equations and algorithms
Author :
Featherstone, Roy ; Orin, David
Author_Institution :
Dept. of Comput. Sci., Univ. of Wales, Aberystwyth, UK
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
Keywords :
Newton method; closed loop systems; computational complexity; robot dynamics; trees (mathematics); Newton-Euler algorithm; closed loop systems; composite rigid body; computational complexity; recursive analysis; robot dynamics; tree structure; Acceleration; Computational efficiency; Computational modeling; Computer science; Equations; Heuristic algorithms; Lagrangian functions; Manipulator dynamics; Orbital robotics; Robots;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844153
