A Recursive Lagrangian Formulation of Manipulator Dynamics
An efficient Lagrangian formulation of manipulator dynamics has been developed. The efficiency derives from recurrence relations for the velocities, accelerations, and generalized forces. The number of additions and multiplications varies linearly with the number of joints, as opposed to past...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6317 |