Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model

DOI10.1115/1.3143779MaRDI QIDQ3741527zbMATH OpenOpenAlexFDO

Authors

Publication date 1986

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3143779

zbMATH Keywords

linearized and trajectory sensitivity modelsNewton-Euler formulationrecursive algorithms

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Perturbation methods for rigid body dynamics (70E20) Control of mechanical systems (70Q05) Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

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