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    Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model

    Source: Journal of Dynamic Systems, Measurement, and Control:;1986:;volume( 108 ):;issue: 003::page 272
    Author:
    J. J. Murray
    ,
    C. P. Neuman
    DOI: 10.1115/1.3143779
    Publisher: The American Society of Mechanical Engineers (ASME)
    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.
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      Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model

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    http://yetl.yabesh.ir/yetl1/handle/yetl/100974
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    contributor authorJ. J. Murray
    contributor authorC. P. Neuman
    date accessioned2017-05-08T23:22:11Z
    date available2017-05-08T23:22:11Z
    date copyrightSeptember, 1986
    date issued1986
    identifier issn0022-0434
    identifier otherJDSMAA-26092#272_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/100974
    description abstractWithin 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.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleLinearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model
    typeJournal Paper
    journal volume108
    journal issue3
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.3143779
    journal fristpage272
    journal lastpage276
    identifier eissn1528-9028
    treeJournal of Dynamic Systems, Measurement, and Control:;1986:;volume( 108 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian