Title :
Recursive formulation of operational space control
Author :
Kreutz-Delgado, K. ; Jain, A. ; Rodriguez, G.
Author_Institution :
California Univ., San Diego, CA, USA
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131874
