Parameters and control algorithms for dynamic mechanical motion of the multi-link robotic systems

This paper provides an overview of existing methods used in modern robotics to provide dynamic motion control of multi-link robots. The representative model of multi-link rigid bodies is considered, which is necessary for implementation of a group of algorithms for controlling dynamic mechanical motion. The Newton-Euler recursive algorithm, the composite rigid body algorithm and the articulated body algorithm are described. Complex use of these algorithms allows to provide full control of multilink robotic systems dynamics. Efficiency and accuracy issues of these algorithms are considered. An approach to measuring the efficiency of rigid body dynamics algorithms is described, corresponding tables and graphs characterizing the effectiveness of several versions of the basic algorithms used for kinematic chains are presented