On the skew-symmetric property of the Newton-Euler formulation for open-chain robot manipulators

This paper proposes a form of the Coriolis-centrifugal matrix that, together with the inertia (or mass) matrix, satisfies the skew-symmetric property that is required by a class of regressor-based adaptive control. Such a matrix has been identified in Lagrange-Euler formulation, but not in Newton-Euler formulation. The paper shows how this matrix is separated out from a recursive Newton-Euler formulation for open-chain robot manipulators