Reducing the computational burden of the dynamic models of robots

This paper presents an efficient method for the calculation of the inverse dynamic model of robots. The given method reduces significantly the computational burden such that the inverse dynamics can be computed on real time at servo rate. The method leads almost directly to models with minimum number of arithmetic operations. The method is based on Newton-Euler formulation, on an iterative symbolic procedure and on an analysis of the links inertial parameters which leads to condensate their number by eliminating and regrouping some of them. A FORTRAN program has been developed to generate automatically the dynamic models of open chain robots.