• DocumentCode
    3246850
  • Title

    Recursive formulation of operational space control

  • Author

    Kreutz-Delgado, K. ; Jain, A. ; Rodriguez, G.

  • Author_Institution
    California Univ., San Diego, CA, USA
  • fYear
    1991
  • fDate
    9-11 Apr 1991
  • Firstpage
    1750
  • Lastpage
    1753
  • Abstract
    A spatial operator algebra approach to modeling and analysis of multibody robotic systems is discussed. It is shown that this modeling and analysis method can be used to develop O(n) recursive algorithms that compute the operational space mass matrix and the operational space coriolis/centrifugal and gravity terms of an n -link serial chain manipulator. It is also shown that, taken together, these algorithms enable an O(n) recursive implementation of operational space control
  • Keywords
    computational complexity; large-scale systems; robots; centrifugal forces; computational complexity; coriolis forces; gravity; multibody robotic systems; n-link serial chain manipulator; operational space control; operational space mass matrix; recursive formulation; spatial operator algebra; Algebra; Algorithm design and analysis; Equations; Gravity; Jacobian matrices; Joining processes; Laboratories; Manipulator dynamics; Orbital robotics; Propulsion;
  • 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.1991.131874
  • Filename
    131874
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3246850