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Spatial operator approach to flexible manipulator inverse and forward dynamicsThis study extends to flexible multibody manipulators the recent results of the author on the use of spatially recursive filtering and smoothing techniques for robot arm dynamics. The configuration analyzed is that of a mechanical system of flexible bodies joined together by articulated joints. The inverse and forward dynamics problems are solved using the techniques of spatially recursive Kalman filtering and smoothing. The algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. The identities are easily derived using a spatial operator algebra developed by the author.
Document ID
19910050545
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Rodriguez, G.
(JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Accession Number
91A35168
Distribution Limits
Public
Copyright
Other

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