Add to ORKGA recently developed spatial operator algebra approach to modeling and analysis of multibody robotic systems is used to develop O(n) recursive algorithms that compute the op-erational space mass matrix and the operational space coriolis/centrifugal and gravity terms of an n-link serial manipulator. These algorithms enable an O(n) recursive im-plementation of operational space control. 1
AbstractRecursive formulations have significantly helped in achieving real-time computations and mod...
A control scheme for the coordination of motion in a space-craft/manipulator system is presented. It...
This thesis provides a general framework for the manual teleoperation of kinematically redundant spa...
A recently developed spatial operator algebra approach to modeling and analysis of multibody robotic...
A recently developed spatial operator algebra for manipu-lator modeling, control, and trajectory des...
This paper presents an approach to modeling the dynamics of flexible multibody systems such as flexi...
The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. T...
The inverse and forward dynamics problems for flexible multibody systems were solved using the techn...
The on-orbit parameter identification of a space structure can be used for the modification of a sys...
This paper tells the story of spatial operators in robot dynamics, emphasizing their physical interp...
peer reviewedOptimal Control methods are increasingly used for the control of multibody systems (MBS...
This paper presents new recursive dynamics algorithms that enable operational-space control of float...
A modular configurable manipulator (MRM) system consists of an inventory of standardized joint and l...
The algorithms used for solving the forward dynamics problem of a complex multibody system are essen...
Robotic operations in space require very light and hence flexible manipulators. Their guidance and c...
AbstractRecursive formulations have significantly helped in achieving real-time computations and mod...
A control scheme for the coordination of motion in a space-craft/manipulator system is presented. It...
This thesis provides a general framework for the manual teleoperation of kinematically redundant spa...
A recently developed spatial operator algebra approach to modeling and analysis of multibody robotic...
A recently developed spatial operator algebra for manipu-lator modeling, control, and trajectory des...
This paper presents an approach to modeling the dynamics of flexible multibody systems such as flexi...
The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. T...
The inverse and forward dynamics problems for flexible multibody systems were solved using the techn...
The on-orbit parameter identification of a space structure can be used for the modification of a sys...
This paper tells the story of spatial operators in robot dynamics, emphasizing their physical interp...
peer reviewedOptimal Control methods are increasingly used for the control of multibody systems (MBS...
This paper presents new recursive dynamics algorithms that enable operational-space control of float...
A modular configurable manipulator (MRM) system consists of an inventory of standardized joint and l...
The algorithms used for solving the forward dynamics problem of a complex multibody system are essen...
Robotic operations in space require very light and hence flexible manipulators. Their guidance and c...
AbstractRecursive formulations have significantly helped in achieving real-time computations and mod...
A control scheme for the coordination of motion in a space-craft/manipulator system is presented. It...
This thesis provides a general framework for the manual teleoperation of kinematically redundant spa...