Recursive Formulation of Operational Space Control

1 August 1992

journal article
research article
Published by SAGE Publications in The International Journal of Robotics Research

Vol. 11 (4) , 320-328
https://doi.org/10.1177/027836499201100405

Abstract

A recently developed spatial operator algebra approach to modeling and analysis of multibody robotic systems is used to develop O(n) recursive algorithms that compute the op erational space mass matrix and the operational space coriolis/centrifugal and gravity terms of an n-link serial manipulator. These algorithms enable an O(n) recursive im plementation of operational space control.

Keywords

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