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A spatial operator algebra for manipulator modeling and controlA recently developed spatial operator algebra, useful for modeling, control, and trajectory design of manipulators is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics. Furthermore, implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection. Thus, the transition from an abstract problem formulation and solution to the detailed mechanizaton of specific algorithms is greatly simplified. The analytical formulation of the operator algebra, as well as its implementation in the Ada programming language are discussed.
Document ID
19900020578
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Rodriguez, G.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Kreutz, Kenneth
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Jain, Abhinandan
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: Proceedings of the NASA Conference on Space Telerobotics, Volume 5
Subject Category
Numerical Analysis
Accession Number
90N29894
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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