A Decomposition of the Manipulator Inertia Matrix - Robotics and Automation, IEEE Transactions on
نویسنده
چکیده
A decomposition of the manipulator inertia matrix is essential, for example, in forward dynamics, where the joint accelerations are solved from the dynamical equations of motion. To do this, unlike a numerical algorithm, an analytical approach is suggested in this paper. The approach is based on the symbolic Gaussian elimination of the inertia matrix that reveal recursive relations among the elements of the resulting matrices. As a result, the decomposition can be done with the complexity of order n; O(n)—n being the degrees of freedom of the manipulator—, as opposed to an O(n) scheme, required in the numerical approach. In turn, O(n) inverse and forward dynamics algorithms can be developed. As an illustration, an O(n) forward dynamics algorithm is presented.
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[73] Assignee: The United States of America as Vector Processor Architecture for Real-Time Control”, IEEE, Nov. 1989. Ling et al., A VLSI Robotics Vector Processor For Real-Time Control; IEEE, 1988. Amin-Javaheri et al., “Systolic Architecture for the Manipulator Inertia Matrix”, IEEE Dec. 1988. Fijany et al., “A Class of Parallel Algorithms for Computation of the Manipulator Inertia Matrix”, N...
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