DocumentCode
3233698
Title
Spatially recursive dynamics for flexible manipulators
Author
Jain, A. ; Rodriguez, G.
Author_Institution
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2350
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131754
Filename
131754
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