Abstract
In this paper, we present an extension of the recursive Newton-Euler algorithm, the unit vector method and the O(N) forward dynamics algorithm of rigid manipulators to flexible manipulators. Firstly, the floating frame of reference formulation is rewritten based on the relative coordinates and a recursive formula for external forces is derived to formulate the recursive Newton-Euler algorithm for flexible manipulators. Secondly, by using the extended recursive Newton-Euler algorithm as a component, the unit vector method for flexible manipulators is proposed. Thirdly, an O(N) forward dynamics algorithm of flexible manipulators is derived. Finally, some simulation results are shown to demonstrate the effectiveness of the proposed recursive inverse and forward dynamics algorithms.
