Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model

Within the framework of the Newton-Euler formulation of robot dynamics, linearized and trajectory sensitivity models are constructed about a nominal trajectory. The approach illustrates the property that linearization of the O(N) recursive Newton-Euler formulation leads to O(N) recursive algorithms. These algorithms are conceived for simulation, parameter identification, and real-time control applications which require the numerical evaluation of the linearized or trajectory sensitivity models. The O(N) linearized recursive algorithms complement their O(N5) linearized Lagrange (Lagrange-Euler) counterparts which are conceived for physical insight, and manipulator and controller design.