Abstract

A diagonal equation /spl nu//spl dot/+C(/spl theta/, /spl nu/)=/spl epsiv/ for robot dynamics is developed by combining mass matrix factorization results with classical Lagrangian mechanics. The nonlinear Coriolis term C(/spl theta/, /spl nu/) depends on the joint angles /spl theta/ and the rates /spl nu/ and does no work. The total joint rates /spl nu/=m*(/spl theta/)/spl theta//spl dot/ are related to the relative joint-angle rates /spl theta//spl dot/ by a linear spatial operator m*(/spl theta/) mechanized by a base-to-tip spatially recursive algorithm. >

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