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Spatial operator approach to flexible manipulator inverse and forward dynamics

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1 Author(s)
Rodriguez, G. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

This study extends to flexible multibody manipulators the recent results of the author (1989) 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

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990