Recursive linearization of manipulator dynamics models

Techniques from spatial operator algebra are used to obtain closed-form operator expressions for two types of linearized dynamics models, denoted as the direct and the canonical linearized models. Three algorithms are presented. The first describes an O(n/sup 2/) recursive method for the computation...

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Bibliographic Details

Published in:	IEEE International Conference on Systems, Man and Cybernetics, 1990 pp. 475 - 480
Main Authors:	Jain, A., Rodriguez, G.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 1990
Subjects:	Algebra Algorithm design and analysis Control design Laboratories Manipulator dynamics Motion analysis Motion planning Path planning Propulsion Robot sensing systems
ISBN:	9780879425975, 0879425970
Online Access:	Get full text
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