The following is the residual momentum observer derivation. Robot dynamics is given as follows Define momentum:...

Transcribed Image Text:

The following is the residual momentum observer derivation. Robot dynamics is given as follows Define momentum: p = M(q)q Mä + Cq + g = t+r Compute p using t, Text, g, C, and q The following is the residual momentum observer derivation. Robot dynamics is given as follows Define momentum: p = M(q)q Mä + Cq + g = t+r Compute p using t, Text, g, C, and q

Answer rating: 100% (QA)

To derive the residual momentum observer we start with the robot dynamics equation Mqq... View the full answer