• DocumentCode
    2021333
  • Title

    Robot dynamics: equations and algorithms

  • Author

    Featherstone, Roy ; Orin, David

  • Author_Institution
    Dept. of Comput. Sci., Univ. of Wales, Aberystwyth, UK
  • Volume
    1
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    826
  • Abstract
    This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day. Equations and algorithms are given for the most important dynamics computations, expressed in a common notation to facilitate their presentation and comparison
  • Keywords
    Newton method; closed loop systems; computational complexity; robot dynamics; trees (mathematics); Newton-Euler algorithm; closed loop systems; composite rigid body; computational complexity; recursive analysis; robot dynamics; tree structure; Acceleration; Computational efficiency; Computational modeling; Computer science; Equations; Heuristic algorithms; Lagrangian functions; Manipulator dynamics; Orbital robotics; Robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
  • Conference_Location
    San Francisco, CA
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-5886-4
  • Type

    conf

  • DOI
    10.1109/ROBOT.2000.844153
  • Filename
    844153
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2021333