Recursive computation of manipulator regressor and its application to adaptive motion control of robots

Abstract

A recursive algorithm is described that generates the manipulator regressor for a general n-degree-of-freedom robot. As the closed-form formula is derived from the Lagrangian equations of motion, the proposed recursive algorithm is obtained from the conventional Newton-Euler dynamic formulation by using a vector-analysis-type technique.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>