Techniques developed originally for electronic systems also useful for multibody mechanical systems. Report summarizes methods developed to solve nonlinear forward-dynamics problem for robot of multiple-link arms connected by joints. Primary objective to show equivalence between recursive methods of dynamical analysis and some filtering and smoothing techniques from state-estimation theory.
Recursive Filtering And Smoothing In Robot Dynamics
NASA Tech Briefs ; 16 , 3
1992-03-01
Miscellaneous
No indication
English
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