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Definition of "Newton–Euler recursive algorithm" |
used in robotics, to calculate joint generalized forces as a result of two recursions along the kinematical structure of the robot. First one, a forward recursion, calculates spatial velocities and accelerations from the base of the manipulator towards its tip. Second one, a backward recursion calculates the spatial forces and torques along the structure in the opposite direction. Projection of the spatial force and torques at the joint axis results in the generalized force at the joint. The resulting Newton–Euler equations of motion are not in closed form as opposite to the result of using Lagrange formalism to the dynamical system of the robot itself. |
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