The Newton᎐Euler method for the calculation of the manipulator dynamics is analyzed, using a general form of the Euler equation for the rigid body. The proposed approach allows the direct resolution of manipulator problems which previously seemed to need specific methods to be tackled. The coordinate systems role and the validity of the obtained equations for revolute and prismatic joints are clarified.

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A vectorial formulation independent of particular coordinate systems is proposed to study manipulator dynamics. As comparative examples, the method is applied to problems that have already been solved, showing that the new approach helps to clarify and to improve the results. In this article, the determination of the minimum set of dynamic parameters of manipulators with tree structures is revisited. © 2001 John Wiley & Sons, Inc.