Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model

[+] Author and Article Information
J. J. Murray, C. P. Neuman

Department of Electrical and Computer Engineering, Carnegie-Mellon University, Pittsburgh, Pa.

J. Dyn. Sys., Meas., Control 108(3), 272-276 (Sep 01, 1986) (5 pages) doi:10.1115/1.3143779 History: Received July 15, 1984; Revised November 22, 1985; Online July 21, 2009


Within the framework of the Newton-Euler formulation of robot dynamics, linearized and trajectory sensitivity models are constructed about a nominal trajectory. The approach illustrates the property that linearization of the O(N) recursive Newton-Euler formulation leads to O(N) recursive algorithms. These algorithms are conceived for simulation, parameter identification, and real-time control applications which require the numerical evaluation of the linearized or trajectory sensitivity models. The O(N) linearized recursive algorithms complement their O(N5 ) linearized Lagrange (Lagrange-Euler) counterparts which are conceived for physical insight, and manipulator and controller design.

Copyright © 1986 by ASME
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