Organizing customized robot dynamics algorithms for efficient numerical evaluation

In 1983, the computer program called algebraic robot modeler (ARM) was implemented to generate symbolically complete closed-form and recursive dynamic robot models. To enhance computational efficiency for dynamic simulation and real-time control, the systematic organization of these symbolic models was introduced in 1985 to remove repetitive calculations within and across equations and thereby generate customized robot dynamics algorithms. The systematic organization procedure of ARM is detailed and its performance compared with documented organizations. It is pointed out that the systematic organization procedure, and the exploitation of kinematic and dynamic manipulator structures through symbolic modeling, make ARM-generated customized algorithms the most computationally efficient manipulator dynamics algorithms of those compared