Recursive Formulation of Operational Space Control
نویسنده
چکیده
A recently developed Spatial Operator Algebra approach to modeling and analysis of multibody robotic systems is used to develop O(n) recursive algorithms which compute the Operational Space mass matrix and the Operational Space coriolis/centrifugal and gravity terms of an n{link serial manipulator. These algorithms enable an O(n) recursive implementation of Operational Space Control.
منابع مشابه
320 Recursive Formulation of Operational Space Control
A recently developed spatial operator algebra approach to modeling and analysis of multibody robotic systems is 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 manipulator. These algorithms enable an O(n) recursive implementation of operational space control.
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