Linearization of manipulator dynamics using spatial operators
Linearization of manipulator dynamics using spatial operators
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使用空间算子实现机械手动力学的线性化
DOI：
10.1109/21.214783
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
G. Rodríguez
中科院分区：
文献类型：
--
作者：
Abhinandan Jain;G. Rodríguez
利用空间算子代数的方法，对线性化动力学模型：线性化逆动力学模型和线性化正动力学模型，给出了闭型算子表达式。提出了求解线性化逆动力学模型（LIDM）扰动矢量和系数矩阵的复杂度为0 (n)和0 （n/sup 2/）的空间递推算法。利用算子因式分解和反演恒等式建立了线性化前向动力学模型（LFDM）的封闭表达式。再一次，这些被用于开发O(n)和O（n/sup 2/）复杂度的算法，用于计算扰动向量和系数矩阵。该算法不需要对质量矩阵进行显式计算，也不需要对质量矩阵进行数值反演，并且比传统的0 （n/sup 3/）算法具有更低的复杂度。>
Techniques from the spatial operator algebra are used to obtain closed-form operator expressions for two types of linearized dynamics models: the linearized inverse and forward dynamics models. Spatially recursive algorithms of O(n) and O(n/sup 2/) complexity for the computation of the perturbation vector and coefficient matrices for the linearized inverse dynamics model (LIDM) are developed. Operator factorization and inversion identities are used to develop corresponding closed-form expressions for the linearized forward dynamics model (LFDM). Once again, these are used to develop algorithms of O(n) and O(n/sup 2/) complexity for the computation of the perturbation vector and the coefficient matrices. The algorithms for the LFDM do not require the explicit computation of the mass matrix nor its numerical inversion and are also of lower complexity than the conventional O(n/sup 3/) algorithms. >