线性化机器人动态模型:高效计算和实际应用

Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI:10.1109/CDC.1989.70430

J. Murray, D.W. Johnson

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引用次数: 9

摘要

提出了一种线性化动态机器人模型的递归评估方法。该方法直接从具有旋转关节、平移关节和螺旋关节的树形机械臂的递推牛顿-欧拉方程中导出。讨论了在最优路径规划和非线性解耦控制中的应用。

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The linearized dynamic robot model: efficient computation and practical applications

A method for the recursive evaluation of linearized dynamic robot models is presented. The method is derived directly from the recursive Newton-Euler equations for tree-structured manipulators with rotational, translational and screw joints. Applications to optimal path planning and nonlinear decoupling control are discussed.<>

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Proceedings of the 28th IEEE Conference on Decision and Control,

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