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June 1, 1982The International Journal of Robotics Research

On the Equivalence of Lagrangian and Newton-Euler Dynamics for Manipulators

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Authors

WSWilliam M. SilverMassachusetts Institute of Technology

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Implication

Comparative analysis demonstrates computational equivalence between Lagrangian and Newton-Euler manipulator dynamics, indicating efficiency depends on recursive structure rather than the framework.

Key Points

  • To determine whether a fundamental computational efficiency difference exists between the classic Lagrangian formulation and the Newton-Euler formulation of robot manipulator dynamics.
  • Analyzed the mathematical formulation and computational overhead of classic versus recursive Lagrangian dynamics.
  • Compared recursive calculation structures and rotational dynamics representations across Lagrangian and Newton-Euler formulations.
  • Demonstrates that there is no fundamental difference in computational efficiency between Lagrangian and Newton-Euler dynamics.
  • Identifies the efficiency of Newton-Euler equations as arising entirely from recursive computation and rotational dynamics representation, both of which are fully achievable within a Lagrangian formulation.

Cite This Study

William M. Silver (1982) studied this question.

synapsesocial.com/papers/6a159e935347fbb173a00dd3https://doi.org/10.1177/027836498200100204
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Also Consider

Synapse has enriched 3 closely related papers on similar clinical questions. Consider them for comparative context:

  1. 1A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity1980 · 876 citations
  2. 2The Near-Minimum-Time Control Of Open-Loop Articulated Kinematic Chains1971 · 456 citations
  3. 3On-Line Computational Scheme for Mechanical Manipulators1980 · 1,590 citations