A new method for linearization of dynamic robot models

DOI10.1109/21.47805MaRDI QIDQ3204386zbMATH OpenOpenAlexFDO

Authors Chang-Jin Li

Publication date 1990

Published in IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/21.47805

zbMATH Keywords

computational efficiencyrecursive Lagrangian formulation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Linearizations (93B18) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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• A simplified force-based method for the linearization and sensitivity analysis of complex manipulation systems
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• Prediction of Stationary Response of Robot Manipulators Under Stochastic Base and External Excitations—Statistical Linearization Approach
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• Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model
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