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...

in this paper we first construct the non-split extension $overline{g}= 2^{6} {^{cdot}}sp(6,2)$ as a permutation group acting on 128 points. we then determine the conjugacy classes using the coset analysis technique, inertia factor groups and fischer matrices, which are required for the computations of the character table of $overline{g}$ by means of clifford-fischer theory. there are two inerti...

The joint-space inertia matrix of a robot mechanism can be highly ill-conditioned. This phenomenon is not merely a numerical artifact: it is symptomatic of an underlying property of the mechanism itself that can make it more difficult to simulate or control. This paper investigates the problem by means of an empirical study of the eigenvalues, eigenvectors and condition number of the joint-spac...

Abstract. The mathematical model of industrial robot is well known for example in the form of Lagrange-Euler equations, Newton-Euler equations or generalized d’Alambert equations. However, these equations require the physical parameters of robot like masses, inertia momentums, etc. that are very hard to measure. In the paper, the method for calculation of Lagrange-Euler robot model using neural...

This paper proposes a procedure for identifying the inertia matrix of a rotating body. The procedure based on Euler’s equation governing rotational motion assumes errors-in-variables models in which all measurements, torque as well as angular velocities, are corrupted by noises. In order for consistent estimation, we introduce an extended linear regression model by augmenting the regressors wit...

In this paper we present the time-dependent generalization of an ‘ordinary’ autonomous human musculo-skeletal biomechanics. We start with the configuration manifold of human body, given as a set of its all active degrees of freedom (DOF). This is a Riemannian manifold with a material metric tensor given by the total mass-inertia matrix of the human body segments. This is the base manifold for s...