A Recursive Newton-Euler Approach for the Evaluation of Generalized Forces Derivatives

The evaluation of the dynamics efforts in robotic manipulators represents an important issue for both the analysis of their behavior and the synthesis of appropriate controllers. This paper proposes an iterative algorithm, based on the Newton-Euler approach, for an efficient evaluation of the manipulators high order kinematics and dynamics. For each joint, the algorithm computes velocities, accelerations, and jerks, while new dynamic equations are proposed in order to evaluate the first derivative of generalized forces. Owing to its moderate computational burden, the algorithm is suited to be used in on-line applications.