Paper Info
Title
Diagonalized dynamics of robot manipulators
Abstract
A diagonal equation ν˙+C(θ, ν)=ε for robot dynamics is developed by combining mass matrix factorization results with classical Lagrangian mechanics. The nonlinear Coriolis term C(θ, ν) depends on the joint angles θ and the rates ν and does no work. The total joint rates ν=m*(θ)θ˙ are related to the relative joint-angle rates θ˙ by a linear spatial operator m*(θ) mechanized by a base-to-tip spatially recursive algorithm
Year
DOI
Venue
1994
10.1109/ROBOT.1994.351273
San Diego, CA
Keywords
Field
DocType
dynamics,manipulators,matrix algebra,base-to-tip spatially recursive algorithm,classical Lagrangian mechanics,diagonal equation,diagonalized dynamics,joint angles,linear spatial operator,mass matrix factorization,nonlinear Coriolis term,relative joint-angle rates,robot dynamics,robot manipulators,total joint rates
Diagonal,Matrix algebra,Control theory,Control engineering,Mass matrix,Factorization,Robot manipulator,Coriolis force,Mathematics
Conference
ISSN
ISBN
Citations 
1050-4729
0-8186-5330-2
2
PageRank 
References 
Authors
0.83
2
2
Name
Order
Citations
PageRank
Abhinandan Jain19516.57
G Rodriguez224147.14