机器人动力学公式和算法(英文版)

Thispaperreviewssomeoftheaccomplishmentsintheeldofrobotdynamicsresearch,fromthedevelopmentoftherecursiveNewton-Euleralgorithmtothepresentday.Equationsandalgorithmsaregivenforthemostimportantdynamicscomputations,expressedinacommonnotationtofacilitatetheir