Title :
The linearized dynamic robot model: efficient computation and practical applications
Author :
Murray, John J. ; Johnson, Daniel W.
Author_Institution :
Martin Marietta Aero & Naval Syst., Baltimore, MD, USA
Abstract :
A method for the recursive evaluation of linearized dynamic robot models is presented. The method is derived directly from the recursive Newton-Euler equations for tree-structured manipulators with rotational, translational and screw joints. Applications to optimal path planning and nonlinear decoupling control are discussed
Keywords :
linearisation techniques; nonlinear control systems; position control; robots; linearized dynamic robot model; nonlinear decoupling control; path planning; recursive Newton-Euler equations; rotational joints; screw joints; translational joints; tree-structured manipulators; Aerodynamics; Computational modeling; Computer applications; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear equations; Optimal control; Reliability engineering; Robot kinematics; Robot sensing systems;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70430
