Linearization of manipulator dynamics using spatial operators

DOI10.1109/21.214783MaRDI QIDQ4202489zbMATH OpenOpenAlexFDO

Authors

Publication date 4 October 1993

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

Full work available at URL https://semanticscholar.org/paper/4223d267b0ba4efad8799b9da911c5f24b14effd

zbMATH Keywords

coefficient matriceslinearized inverse dynamics modelperturbation vectorrecursive algorithmsspatial operator algebra

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

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• Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model
• scientific article; zbMATH DE number 1187504 (Why is no real title available?)
• Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs-Appell formulation and SDRE approach
• Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators

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