Sreenath, N.Krishnaprasad, Perinkulam S.This report describes a method to formulate the dynamic equations of a robot manipulator with N links and with either revolute or prismatic joints using a Newton-Euler formulation. A general- purpose tool for analysis and design of robot manipulators and related control problems is being developed in the form of a software package DYNAMAN using this method.en-USdynamic modelsmanipulator jointsDYNAMANNewton-Euler formulationTechnical Report