AbstractThis article presents development of the linearized dynamic models of robot manipulators in Cartesian space. A clever method is proposed to formulate the linearized dynamic models of robot manipulators in Cartesian space. Efficient methods are developed to compute various matrices involved in the models (or the manipulator sensitivity matrices in Cartesian space), such as the Jacobian matrix and the first and second derivatives of it with respect to time as well as the manipulator sensitivity matrices in joint space. The proposed methods are simple and systematic and have computational complexity of the order O(n2) only, wherenis the number of degrees‐of‐freedom of the manipula
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