A recursive, numerically stable, and efficient simulation algorithm for serial robots (Q880994)

The authors develop governing dynamical equations for a serial robot with rigid links. The key features of the development are: 1) the use of Euler-Lagrange formulation, and 2) the use of decoupled natural orthogonal complement matrices. The claim is that the development is recursive, efficient, and numerically stable. The dynamic analysis of a six-degree-of-freedom PUMA robot serves as an illustrative example. The paper is potentially useful to engineers interested in algorithm development for robot dynamics and control.