Linearization of manipulator dynamics using spatial operators

DOI10.1109/21.214783zbMath0776.70004OpenAlexW2099082465MaRDI QIDQ4202489

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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

recursive algorithmsperturbation vectorcoefficient matricesspatial operator algebralinearized inverse dynamics model

Mathematics Subject Classification ID

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

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Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators ⋮ Path defined directed graph vector (\textit{Pgraph}) method for multibody dynamics ⋮ Recursive modeling and control of multi-link manipulators with vacuum grippers

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