contributor author | J. J. Murray | |
contributor author | C. P. Neuman | |
date accessioned | 2017-05-08T23:22:11Z | |
date available | 2017-05-08T23:22:11Z | |
date copyright | September, 1986 | |
date issued | 1986 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26092#272_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/100974 | |
description abstract | Within the framework of the Newton-Euler formulation of robot dynamics, linearized and trajectory sensitivity models are constructed about a nominal trajectory. The approach illustrates the property that linearization of the O(N) recursive Newton-Euler formulation leads to O(N) recursive algorithms. These algorithms are conceived for simulation, parameter identification, and real-time control applications which require the numerical evaluation of the linearized or trajectory sensitivity models. The O(N) linearized recursive algorithms complement their O(N5 ) linearized Lagrange (Lagrange-Euler) counterparts which are conceived for physical insight, and manipulator and controller design. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model | |
type | Journal Paper | |
journal volume | 108 | |
journal issue | 3 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.3143779 | |
journal fristpage | 272 | |
journal lastpage | 276 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1986:;volume( 108 ):;issue: 003 | |
contenttype | Fulltext | |