Efficient algorithm for extended operational space inertia matrix
نویسندگان
چکیده
This paper describes a n efficient recursive algorithm f o r the computation of the extended operational space inertia matr ix of a n n-link branching (tree-like) redundant robotic mechanism with multiple operational points. T h e proposed algorithm behaves linearly with respect t o n in practice. Therefore, as the number of links increases, this algorithm performs significantly better than the existing O(n3) symbolic method. The experimental results of this algorithm are presented using real-time dynamic simulation.
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تاریخ انتشار 1999