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A recursive Newton-Euler algorithm for robots with elastic joints and its application to control
2015
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
We consider the problem of computing the inverse dynamics of a serial robot manipulator with N elastic joints in a recursive numerical way. The solution algorithm is a generalized version of the standard Newton-Euler approach, running still with linear complexity O(N ) but requiring to set up recursions that involve higher order derivatives of motion and force variables. Mimicking the case of rigid robots, we use this algorithm and a numerical factorization of the link inertia matrix (which
doi:10.1109/iros.2015.7354160
dblp:conf/iros/BuondonnoL15
fatcat:ltxzdikryrfftpenze7rifgueq