An efficient algorithm for the dynamic control of robots in the cartesian space

This paper presents a complete computational scheme for controlling a robot in the cartesian space. The given algorithm deals with the inverse dynamic and inverse kinematic problems simultaneously in order to eliminate many redundant calculations. The inverse dynamic calculation is based on a Newton-Euler formulation which makes use of many variables and elements which are calculated during the inverse kinematic solution. The proposed method reduces considerably the number of operations needed in real time applications.