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Diagonalized Lagrangian Robot DynamicsA diagonal equation for robot dynamics is developed by combining recent mass matrix factorization results with classical Lagrangian mechanics.
Document ID
20060037808
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
hdl:2014/32562
Authors
Jain, A.
Rodriguez, G.
Date Acquired
August 23, 2013
Publication Date
May 1, 1994
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Other
Keywords
working joint moments total joint rotational rates diagonal equations mass
matrix factorization Lagrangian mechanics

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