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Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms

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Abstract:

This article describes an efficient recursive algorithm for the computation of the operational space inertia matrix of an n-link branching robotic mechanism with multiple (m) operational points. The proposed algorithm achieves the complexity of O(nm + m 3). Since m can be considered as a small constant in practice, as the number of links increases, this algorithm performs significantly better than the existing O(n 3 + m 3) symbolic method. The experimental results of this algorithm are presented using real-time dynamic simulation.

Keywords: BRANCHING MECHANISMS; EFFICIENT RECURSIVE ALGORITHM; MODIFIED SPATIAL NOTATION; OPERATIONAL SPACE FORMULATION WITH MULTIPLE OPERATIONAL POINTS; OPERATIONAL SPACE INERTIA MATRIX

Document Type: Research Article

DOI: https://doi.org/10.1163/156855301750078757

Affiliations: Robotics Laboratory, Computer Science Department, Stanford University, Stanford, CA 94305, USA

Publication date: 2001-02-01

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