Recursive formulation of operational space control

Abstract

A spatial operator algebra approach to modeling and analysis of multibody robotic systems is discussed. It is shown that this modeling and analysis method can be used to develop O(n) recursive algorithms that compute the operational space mass matrix and the operational space coriolis/centrifugal and gravity terms of an n-link serial chain manipulator. It is also shown that, taken together, these algorithms enable an O(n) recursive implementation of operational space control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>