NASA NTRS · 19920069984
Recursive formulation of operational space control
Abstract
A recently developed spatial operator algebra approach to modeling and analysis of multibody robotic systems is 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 manipulator. These algorithms enable an O(n) recursive implementation of operational space control.
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Kreutz-Delgado, K., Jain, A., Rodriguez, G.. 1992-08-01. Recursive formulation of operational space control. https://ntrs.nasa.gov/citations/19920069984
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