A recursive, numerically stable, and efficient simulation algorithm for serial robots
The authors develop governing dynamical equations for a serial robot with rigid links. The key features of the development are: 1) the use of Euler-Lagrange formulation, and 2) the use of decoupled natural orthogonal complement matrices. The claim is that the development is recursive, efficient, and numerically stable. The dynamic analysis of a six-degree-of-freedom PUMA robot serves as an illustrative example. The paper is potentially useful to engineers interested in algorithm development for robot dynamics and control.
decoupled natural orthogonal complement matrices
scientific article; zbMATH DE number 5155281
scientific article