Customized computational robot dynamics

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Abstract
In 1983 the authors implemented the computer program Algebraic Robot Modeler (ARM) to generate symbolically complete closed‐form and recursive dynamic robot models.1–3Then, in 1985, we incorporated in ARM heuristic rules for the systematic organization of dynamic robot models to reduce the computational requirements of customized forward and inverse dynamics calculations. We resolve the issue of numerical efficiency of customized closed‐form and recursive forward and inverse dynamics algorithms for kinematically and dynamically structured manipulators. We find that ARM‐generated customized closed‐form algorithms are the most computationally efficient calculators of forward and inverse dynamics of three degree‐of‐freedom manipulators. For six DOF predominantly rotational manipulators, ARM‐generated customized recursive algorithms are the most computationally efficient foward and inverse dynamics algorithms; inverse dynamics can be computed in less than one millisecond on commercially‐available processors (in software, without special‐purpose hardware). In our companion article,4we compare the symbolic efficiencies of six robot dynamics formulations for generating closed‐form and recursive models.

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