A recursive algorithm for robot dynamics using Lie groups

We present, using standard ideas from Lie groups and Riemannian geometry, a computationally efficient recursive algorithm for the inverse dynamics of an open-chain manipulator. Our algorithm bears close resemblance to Featherstone´s (1991) approach, but is derived entirely from Lie theoretic concepts and definitions. Our geometric approach permits a high-level view of robot dynamics that emphasizes the coordinate-free aspects of the equations of motion while preserving the computational efficiency of recursive algorithms