A SURVEY OF EFFICIENT COMPUTATIONAL METHODS FOR MANIPULATOR INVERSE DYNAMICS

In this paper, we present an up-to-date survey of various numerically efficient methods for solving the problem of computing manipulator inverse dynamics. The literature on this subject is extensive. However, in this paper, we review only those algorithms which have been derived based on the Euler-Lagrange, Newton-Euler and Kane's formulations of the dynamic equations of motion and are applicable to rigid-link open-chain robot manipulators. In particular. for each of these formulations we present a chronological account of the development of the most important algorithms which compute manipulator inverse dynamics. In this process some 'classical' algorithms are given and a number of issues which make it possible to reduce their computational complexity are emphasized. Also, the most efficient algorithms currently available are compared in terms of their computational complexity.