A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity

摘要

A recursive formulation of manipulator dynamics based on the Lagrange equations has been developed. The efficiency of this formulation allows the dynamics to be computed in real time. The formulation is analogous to recently developed recursive Newton-Euler dynamics and shares the latter's efficiency. A comparison of the number of adds and multiplies required under different Lagrangian, Newtonian, and tabular formulations shows that recursive formulations based either on the Lagrange or on the Newton equations offer the overall best method of dynamics calculation. (Author)