The inverse dynamics problem is often encountered in robotics applications. In the same way, its solution is well known both considering the Lagrangian or the Newton-Euler formulation. In order to evaluate the solution in the case of real time applications, efficient algorithms have to be devised. This is the aim of the research activity herein considered. In particular, a novel algorithm is proposed which makes it possible to efficiently evaluate the manipulators' generalized forces, together with their first derivatives. The proposed solution is based on a specific reformulation of the Newton-Euler approach and is characterized by computational times compatible with real-time applications. Thus, the new algorithm can be suitably used to devise new control techniques where requirements on the torque derivatives are assigned. [1]
