Abstract: This paper presents a fast real-time scheme for computing the Lagrange-Eulerdynamic equations with respect to the link coordinate systems of a robot manipulator.This method of computation is more efficient than those methods of references〔1〕#〔3〕.For a robot manipulator with six degrees of freedom,the number of operations to obtain the complete dynamic equations is at most 893 multiplications and 719 additionsby the method given in this paper.Although the number of operation of the method given in this paper is theoretically about 40 multiplications more than that of the Newton-Euler method,the run time of programming is evidently shorter than that ofthe Newton-Euler method.