Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms
Authors: Chang, Kyong-Sok; Khatib, Oussama
Source: Advanced Robotics, Volume 14, Number 8, 2001 , pp. 703-715(13)
Publisher: Taylor and Francis Ltd
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.
Document Type: Research Article
Affiliations: Robotics Laboratory, Computer Science Department, Stanford University, Stanford, CA 94305, USA
Publication date: February 1, 2001