Abstract
We propose a computationally efficient approach for estimating sets of torques arising from inverse uncertain-dynamics of robot manipulators. Our proposed algorithm is based on the use of interval arithmetic computations within a recursive Newton-Euler algorithm for inverse dynamics. The set-based operations are here introduced considering uncertain dynamics parameters as well as uncertain linear/angular accelerations, and uncertain angular velocities of the base of the robot. We present numerical results that verify the tightness of the estimated torque sets and the computational efficiency of our proposed approach. © 2022 Elsevier B.V., All rights reserved.