Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees
نویسندگان
چکیده
منابع مشابه
Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees
This paper describes new factorization algorithms that exploit branch-induced sparsity in the joint-space inertia matrix (JSIM) of a kinematic tree. It also presents new formulae that show how the cost of calculating and factorizing the JSIM vary with the topology of the tree. These formulae show that the cost of calculating forward dynamics for a branched tree can be considerably less than the...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2005
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364905054928