Wrist-Partitioned, Inverse Kinematic Accelerations and Manipulator Dynamics

An efficient algorithm is presented for the calculation of the inverse kinematic accelerations for a six-degree-of-freedom manipulator with a spherical wrist. The inverse kinematic calculation is shown to work synergistically with the inverse dynamic calculation, producing kinematic parameters needed in the recursive Newton-Euler dynamics formulation. Additional savings in the dynamic computation are noted for a class of kinematically well-structured manipulators, such as spherical-wrist arms, and for manipulators with simply structured inertial parameters.