A novel parallel recursive Newton–Euler algorithm for modelling and computation of robot dynamics

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 parallelisms have been recently reported and used in distributed real time computation of robot dynamics. In this paper, the basic physical potential for such parallelism is addressed. Beside modified regrouping of such recursion, novel individual recursive equations for the Inertial, Coupling and Gravitational Dynamics of the robot are introduced.