论文信息 - Recursive algorithm for the third-order model of robots

Recursive algorithm for the third-order model of robots

An efficient computational algorithm for a third-order robot model is derived. It is based on the Newton-Euler dynamics formulation and follows the method used in the algorithm for the second-order model by J.Y.S. Luh et al. (1980). Although the number of computations in the former increased as compared with the latter, it is still linear with respect to number of joints. This algorithm may be used in both simulation and control.<<ETX>>

A. Smiarowski | J. N. Anderson

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