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Linearization of manipulator dynamics using spatial operators. (English) Zbl 0776.70004

Techniques from the spatial operator algebra are used to derive closed form operator expressions and new recursive algorithms for linearized dynamics models for robot manipulators. The spatial operator algebra is a robot modeling and analysis framework that makes use of spatial operators to provide a compact description of robot dynamics, and to derive efficient recursive algorithms for robotics computations.

MSC:

70B15 Kinematics of mechanisms and robots
93C85 Automated systems (robots, etc.) in control theory
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