A survey of efficient computational methods for manipulator inverse dynamics

Abstract

Abstract. In this paper, we present an up-to-date survey of various numerically efficient methods for solving the problem of computing manipulator inverse dynamics. The literature on this subject is extensive. However, in this paper, we review only those algorithms which have been derived based on the EulerLagrange, Newton-Euler and Kane's formulationsof the dynamic equations .of motion and are applicable to rigid-link open-chain robot manipulators. In particular, for each of these formulations we present a chronological account of the development of the most important algorithms which compute manipulator inverse dynamics. In this process some 'classical' algorithms are given and a number of issues which make it possible to reduce their computational complexity are emphasized. Also, the most efficient algorithms currently available are compared in terms of their computational complexity.

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“…For robots with floating bases, such as humanoid robots, quadruped robots, and so on, the traditional inverse dynamics methods are based on the virtual 6-DOF joint, which is added manually to connect the floating base to a fixed point in world coordinate system [16]- [19]. These methods are easy to understand but complicated to calculate because of the virtual joint.…”

Dynamics and Balancing of Multibody Systems

“…Most of the recent improvements in multibody dynamic formulations have come from robotics and aerospace fields [46][47][48][49][50][51][52][53][54][55][56][57][58][59][60][61][62][63]. Stepanenko et al [46] formulated the first recursive Newton-Euler equations for spatial open chains.…”

Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols

“…Owing to its importance this subject had been studied extensively in the past three decades. Thus, several algorithms and methods had been developed to calculate it [1] [2]. Nevertheless, this subject remains till this day open for extensive research.…”