MANIPULATION
The linearized dynamic robot model: efficient computation and practical applications
J. Murray, Daniel Johnson
- 发表年份
- 2003
- 引用次数
- 5
摘要
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>
关键词
Decoupling (probability)ComputationRobotNonlinear systemComputer scienceDynamic equationDynamic programmingTree (set theory)Path (computing)Mathematical optimization
相关论文
OTHER
📊 26,957 引用
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 引用
Artificial intelligence: a modern approach
1995
OTHER
📊 18,993 引用
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991
SWARM
📊 14,853 引用
A new optimizer using particle swarm theory
R.C. Eberhart, James Kennedy
2002