The Friedmann equations are a set of equations in physical cosmology that govern the expansion of space in homogeneous and isotropic models of the universe within the context of general relativity. They were first derived by Alexander Friedmann in 1922 from Einstein's field equations of gravitation for the Friedmann-Lemaître-Robertson-Walker metric and a fluid with a given mass density and pressure . The equations for negative spatial curvature were given by Friedmann in 1924.
Read more about Friedmann Equations: Assumptions, The Equations, Density Parameter, Useful Solutions, Rescaled Friedmann Equation