An alternative formulation of manipulation dynamics with recursive computation of inertia matrix for computer simulation

In this paper, an alternate formulation of manipulator dynamics for computer simulation is proposed. The new formulation algorithm is based on a modification of the Newton-Euler formulation. The proposed method allows one to compute the inertia matrix explicitly, in an efficient recursive manner, thus it can be used for simulation of manipulator dynamics. The number of additions and products varies with the square of the number of joints. The computational effort of the proposed method is compared with that of other methods