The U DUT Decomposition of Manipulator Inertia Matrix
نویسنده
چکیده
In this paper, the UDUT decomposition of the generalized inertia matrix o f an n-link serial manipulator is presented in symbolic form, where U and D, respectively, are the upper triangular and diagonal matrices. To render the decomposition, the elementary upper triangular matrices, associated to a modified Gaussian elimination, are introduced, whereas each element of the inertia matrix is written as an expression, instead offinding it as a number with the aid of an algorithm. The resulting UDUT decomposition shows recursive relations among the elements of the associated matrices. Thus, algorithms of order ‘n’ can be developed not only for the inverse but also for the forward dynamics. A s an illustration, a forward dynamics algorithm is presented here.
منابع مشابه
Simulation of Industrial Manipulators Based on the UDU<Superscript><Emphasis Type="Italic">T</Emphasis></Superscript> Decomposition of Inertia Matrix
The UDUT – U and D are respectively the upper triangular and diagonal matrices – decomposition of the generalized inertia matrix of an n-link serial manipulator, introduced elsewhere, is used here for the simulation of industrial manipulators which are mainly of serial type. The decomposition is based on the application of the Gaussian elimination rules to the recursive expressions of the eleme...
متن کاملA Decomposition of the Manipulator Inertia Matrix - Robotics and Automation, IEEE Transactions on
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 el...
متن کاملAnalysis of a redundant free-flying spacecraft/manipulator system
This paper presents an anlysis based on the momentum conservation equations of a redundant free-flying spacecraft/manipulator system, acting in zero-gravity environment. In order to follow a predefined end-effector path, the inverse kinematics at velocity level is considered. The redundancy i solved alternatively in terms of pseudoinverses and null-space components of the manipulator inertia ma...
متن کاملKinematics Analysis of Free-Floating Redundant Space Manipulator based on Momentum Conservation
Abstract: This paper focuses on the kinematics analysis of free-floating space redundant manipulator at velocity level based on the momentum conservation law. Firstly, a general solution for inverse kinematics is proposed based on the concept of task priority. Secondly, in terms of pseudo-inverse and null-space components of the inertia matrix, the manipulator Jacobian matrix and the generalize...
متن کامل