Linearization of manipulator dynamics using spatial operators

@article{Jain1993LinearizationOM,
  title={Linearization of manipulator dynamics using spatial operators},
  author={Abhinandan Jain and Guillermo Rodr{\'i}guez},
  journal={IEEE Trans. Syst. Man Cybern.},
  year={1993},
  volume={23},
  pages={239-248}
}
Techniques from the spatial operator algebra are used to obtain closed-form operator expressions for two types of linearized dynamics models: the linearized inverse and forward dynamics models. Spatially recursive algorithms of O(n) and O(n/sup 2/) complexity for the computation of the perturbation vector and coefficient matrices for the linearized inverse dynamics model (LIDM) are developed. Operator factorization and inversion identities are used to develop corresponding closed-form… 

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