A spatial operator algebra for manipulator modeling and controlA spatial operator algebra for modeling the control and trajectory design of manipulation is discussed, with emphasis on its analytical formulation and implementation in the Ada programming language. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of the manipulator. Inversion is obtained using techniques of recursive filtering and smoothing. The operator alegbra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. Implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection, thus greatly simplifying the transition from an abstract problem formulation and solution to the detailed mechanization of a specific algorithm.
Document ID
19890066081
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Rodriguez, G. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Kreutz, K. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Jain, A. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Numerical Analysis
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation