MANIPULATION
The linearized dynamic robot model: efficient computation and practical applications
J. Murray, Daniel Johnson
- Year
- 2003
- Citations
- 5
Abstract
A method for the recursive evaluation of linearized dynamic robot models is presented. The method is derived directly from the recursive Newton-Euler equations for tree-structured manipulators with rotational, translational and screw joints. Applications to optimal path planning and nonlinear decoupling control are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Decoupling (probability)ComputationRobotNonlinear systemComputer scienceDynamic equationDynamic programmingTree (set theory)Path (computing)Mathematical optimization
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