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    Recursive Robot-Arm Dynamics via Filtering and Smoothing (1987)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: Forward and inverse dynamics solved using Kalman filtering and Bryson-Frazier smoothing. Dynamics of serial-link robot arm solved by using recursive techniques from linear filtering and smoothing theory. Solutions of dynamical equations give forces, moments, and accelerations at joints between links, and multilink inertia matrix and its inverse. Theoretical developments lay foundation for use of filtering and smoothing techniques in design of robot controls.
    Keywords: MACHINERY
    Type: NPO-17040 , NASA Tech Briefs (ISSN 0145-319X); 11; 7; P. 85
    Format: text
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    NASA TECHNICAL REPORTS
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