Spatial operator factorization and inversion of the manipulator mass matrix
نویسندگان
چکیده
منابع مشابه
Spatial operator factorization and inversion of the manipulator mass matrix
’bo new recursive factorizations are developed of the mass matrix for fixed-base and mobile-base manipulators. First, the mass matrix M is shown to have the factorization M = H$M$* H’. This is referred to here as the Newton-Euler factorization because it is closely related to the recursive Newton-Euler equations of motion. This factorization may be the simplest way to show the equivalence of re...
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A recently developed spatial operator algebra for manipulator modeling, control and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The e ect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be e ciently obt...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1992
ISSN: 1042-296X
DOI: 10.1109/70.127240