Robot dynamics: equations and algorithms

Key Points

• The aim is to summarize the progress in robot dynamics, focusing on algorithms and equations developed over time.
• Reviewed various advancements in robot dynamics research.
• Presented equations and algorithms in a standardized notation for comparison.
• Highlighted the recursive Newton-Euler algorithm and its implications.
• Identified significant contributions to robot dynamics through various algorithms.
• Established a common notation for easier understanding of dynamics computations.
• Provided insights into the evolution from initial methods to current techniques.