In the control of robot manipulators, it is customary to assume that the eigenvalues of the inertia matrix are uniformly bounded from below and above. However, in this article it is shown that not all manipulators possess this property. The class of serial robot manipulators with bounded inertia matrix, referred to as class B D manipulators, is completely characterized and it is shown that it i...

A symmetric matrix A is said to be sign-nonsingular if every symmetric matrix with the same sign pattern as A is nonsingular. Hall, Li and Wang (2001) showed that the inertia of a signnonsingular symmetric matrix is determined uniquely by its sign pattern. The purpose of this paper is to present an efficient algorithm for computing the inertia of such matrices. The algorithm runs in O(nm) time ...

In this paper, two new methods for computation of the inertia matrix of robot manipulators are proposed. The new algorithms are based on a block diagram of manipulator dynamics, derived from the Newton-Euler formulation. The proposed methods allows to compute the inertia matrix explicitly, in an efficient recursive manner, and can be applied for robot dynamics simulation.

[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...

This article presents an improvement method of an identified inertia matrix with the neural network model of a robot. A problem of a neural network model is its inability to assure the positive definiteness of an identified inertia matrix. Therefore the method of matrix regularization based on Cholesky decomposition is proposed. Simulation results show significant improvement of the accuracy of...

The inertia of a Hermitian matrix is defined to be a triplet composed by the numbers of the positive, negative and zero eigenvalues of the matrix counted with multiplicities, respectively. In this paper, we give various closed-form formulas for the maximal and minimal values for the rank and inertia of the Hermitian expression A + X, where A is a given Hermitian matrix and X is a variable Hermi...