Table 5
Dynamic modelling.
| Method | Advantage | Limitation |
|---|---|---|
| NE [59] | High computational efficiency, real-time force and torque data | Difficult to handle some complex constraints |
| QL [60] | Easy to incorporate new subsystems, easy manipulator feedback handling | Difficult to handle algebraic and differential equations |
| Kane [61] | High modeling efficiency, few differential equations | Difficulty with external force calculations |
| FEA [62] | Wide applicability, flexible modeling | Difficult to remove discretization errors |
| Data-Driven [63] | Strong adaptability and robustness | Requires high-quality data, limited generalization ability |
| Hybrid [64] | Theoretical interpretability and strong generalization | Sensitive to hybrid rules, poor scalability |
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