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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.
Hollerbach et al. (Thu,) studied this question.