The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par- ticular, the following problems of rigid-link open-chain manipulator dynam- ics are considered: i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com- putationally efficient solutions of these problems are prerequisites for real- time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational...