Regressor formulation of robot dynamics: computation and applications

Two approaches to the evaluation of the manipulator regressor of a general n-degree-of-freedom (DOF) robot are presented. The first method is an energy-based approach using the Lagrangian formulation of robot dynamics as a starting point. A key fact used in deriving the solution is that the manipulator Lagrangian is linkwise additive. The second approach generates an iterative algorithm for efficient numerical evaluation of the regressor. It is obtained by reformulating the Newton-Euler recursion using vector analysis type techniques. In addition, a modified Slotine-Li algorithm for adaptive motion control is presented and is then applied in a simulation study to a 4-DOF PUMA-type robot, where the manipulator regressor is evaluated using the iterative algorithm proposed