Title :
Spatially recursive dynamics for flexible manipulators
Author :
Jain, A. ; Rodriguez, G.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
The spatial operator algebra methodology is used to develop efficient spatially recursive algorithms for the dynamics of flexible link manipulators. The operator-based formulation closely parallels that for rigid link manipulators. The computational complexity of the forward dynamics algorithm is linear in the number of links and cubic in the number of modes
Keywords :
computational complexity; dynamics; parallel algorithms; robots; computational complexity; flexible link manipulators; forward dynamics algorithm; parallel algorithms; robots; spatial operator algebra methodology; spatially recursive algorithms; Algebra; Computational complexity; Equations; Fasteners; Finite element methods; Heuristic algorithms; Laboratories; Manipulator dynamics; Propulsion; Topology;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131754
