E. Abdalla et al., A NOVEL PARALLEL RECURSIVE NEWTON-EULER ALGORITHM FOR MODELING AND COMPUTATION OF ROBOT DYNAMICS, Mathematics and computers in simulation, 37(2-3), 1994, pp. 227-240
The recursive Newton-Euler formulation to compile or compute the robot
dynamics is essential for problems of robot simulation as well as for
robot inverse dynamics. Beside the established form of computation in
outward (forward) and inward (backward) recursion, several schemes th
at exploit inherent parallelisms have been recently reported and used
in distributed real time computation of robot dynamics. In this paper,
the basic physical potential for such parallelism is addressed. Besid
e modified regrouping of such recursion, novel individual recursive eq
uations for the Inertial, Coupling and Gravitational Dynamics of the r
obot are introduced.