Recursive Newton-Euler Formulation
A computational method for calculating reaction forces between every link in the robot chain. Used in dynamics analysis but can be computationally expensive.
The Recursive Newton-Euler (RNE) formulation is a computational method for calculating forces and torques at every joint and link in a robot chain. It systematically applies Newton's and Euler's laws of motion recursively from the base to the end-effector and back, efficiently computing all reaction forces and joint torques needed to produce desired accelerations.
Simple idea: Track how forces and torques cascade through the entire robot structure to determine what each joint must do.
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