A survey of efficient computational methods for manipulator inverse dynamics (Q1335015)

Specification of the robot displacement in order to produce a prescribed motion trajectory, and the subsequent determination of the forces and/or torques is termed the inverse dynamics problem. The principal uses of the inverse dynamics are in robot control and trajectory planning. The problem can be solved numerically or analytically. Author's intention is to present an up-to-date survey of various methods for deriving computationally efficient algorithms which solve the inverse dynamics problem numerically. Various factors which effect the computational efficiency of the algorithms are discussed. By means of two tables, valuable comparison in terms of their computational complexity of a large number of algorithms is presented. Recursive algorithms are computationally more efficient than closed form ones, since in recursive algorithms unnecessary computations are avoided. Moreover, a suitable mathematical representation of various physical quantities is important for computational efficiency of a recursive algorithm. The paper will be of interest to specialists in robot dynamics. Unfortunately, some recent publications, especially from Europe, are not included in the survey.