11.2.2. Recursive Newton-Euler Algorithm

Try these first

1. 1.

   What are the two phases of the Recursive Newton-Euler Algorithm?

   Hint

   Think about the order in which the calculations are made.

2. 2.

   In the forward recursion phase, what types of velocities are computed?

   Hint

   Consider velocities associated with motion.

3. 3.

   What is the purpose of the forward recursion in the Recursive Newton-Euler Algorithm?

   • To compute forces and torques
   • To compute velocities and accelerations
   • To visualize robotic movement

   Hint

   Think about what the phase is aiming to establish.

4. 4.

   True or False: The backward recursion computes velocities.

   • True
   • False

   Hint

   Recall the specific outcomes of each recursion phase.

5. 5.

   Consider a 4-link manipulator. Describe the steps you would take to apply the Recursive Newton-Euler Algorithm, specifying calculations done in both phases. Include an analysis of the potential challenges you might face.

   Hint

   Break down the problem phase by phase, considering what each phase requires.

6. 6.

   You have a manipulator with varying loads at its end-effector. How would the forces calculated in the backward recursion phase be affected, and how would you adjust the algorithm accordingly?

   Hint

   Consider how changes at the end-effector influence previous calculations.