Real-time computational schemes for inverse dynamics of robot manipulators

Two fast algorithms for the inverse dynamics computation in real-time robot control are developed by using simple Lagrange-Euler formulation. A C-language program (software package) is developed for implementing these algorithms on a microcomputer. All the algorithms are verified through computing the joint actuator torques for a PUMA-560 robot with six degrees-of-freedom. The high computational efficiency of the proposed algorithms allows the inverse dynamics computation of any practical robot to be implemented on a current microcomputer in real-time. The algorithms proposed are the fastest of all the existing algorithms for robot dynamics computation