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Linearized dynamics

Murray and Neuman [13] have developed an efficient recursive linearized Newton-Euler formulation that can be used to compute (see appendix A)
$\displaystyle \delta \mbox{\boldmath$ \tau $}$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ D(q) $} \delta \ddot{\mbox{\boldmath$ q $}}
+ \m...
...box{\boldmath$ q $}},\ddot{\mbox{\boldmath$ q $}}) \delta \mbox{\boldmath$ q $}$ (2.70)



Richard Gourdeau 2004-07-06