Fast inverse dynamics computation in real-time robot control

In this paper, two fast algorithms for the inverse dynamics computation in real-time robot control are developed by using simple Lagrange-Euler formulation. The high computational efficiency of the proposed algorithms can make the inverse dynamics computation of any practical robot to be implemented on a current microcomputer in real-time. As compared with other existing algorithms, the algorithms proposed in this paper are, computationally, the fastest of all the existing algorithms for robot dynamics computation.