A novel parallel recursive NewtonโEuler
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E. Abdalla; H.J. Pu; M. Mรผller; A.A. Tantawy; L. Abdelatif; H. Nour Eldin
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Article
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1994
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Elsevier Science
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English
โ 675 KB
The recursive Newton-Euler formulation to compile or compute the robot dynamics is essential for problems of robot simulation as well as for robot inverse dynamics. Beside the established form of computation in outward (forward) and inward (backward) recursion, several schemes that exploit inherent