DocumentCode :
2261295
Title :
On the skew-symmetric property of the Newton-Euler formulation for open-chain robot manipulators
Author :
Lin, Hong-Chin ; Lin, Tsung-Chieh ; Yae, K.H.
Author_Institution :
Center for Simulation & Design Optimization, Iowa Univ., Iowa City, IA, USA
Volume :
3
fYear :
1995
fDate :
21-23 Jun 1995
Firstpage :
2322
Abstract :
This paper proposes a form of the Coriolis-centrifugal matrix that, together with the inertia (or mass) matrix, satisfies the skew-symmetric property that is required by a class of regressor-based adaptive control. Such a matrix has been identified in Lagrange-Euler formulation, but not in Newton-Euler formulation. The paper shows how this matrix is separated out from a recursive Newton-Euler formulation for open-chain robot manipulators
Keywords :
adaptive control; manipulator dynamics; matrix algebra; Coriolis-centrifugal matrix; Newton-Euler formulation; open-chain robot manipulators; regressor-based adaptive control; skew-symmetric property; Acceleration; Adaptive control; Dynamic programming; Equations; Lagrangian functions; Manipulator dynamics; Mechanical factors; Programmable control; Robot kinematics; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
Type :
conf
DOI :
10.1109/ACC.1995.531386
Filename :
531386
Link To Document :
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