Computational robot dynamics using spatial operators

Abstract

This paper describes spatial operators in robot dynamics, emphasizing their physical interpretation, while avoiding lengthy mathematical derivations. The spatial operators are rooted in the function space approach to the estimation theory developed in the decades that followed the introduction of the Kalman filter. In the mid 1980's, the authors recognized the analogy between Kalman filtering and robot dynamics, and began to use this approach on a wide range of multi-body systems of increasing complexity. This paper reviews the spatial operator approach to robot dynamics, and outlines current applications to the modeling, simulation and control of space robot dynamics and large molecular structures.