Analytical expression for the inverted inertia matrix of serial robots
Journal Article
·
· International Journal of Robotics Research
- Indian Inst. of Tech., New Delhi (India). Dept. of Mechanical Engineering
This paper presents the analytical derivation of the inertia matrix and its inverse for an open-loop, serial-chain robot. The derivation allows one to write a recursive forward-dynamics algorithm for simulation purposes whose computational complexity is of order n, i.e., {Omicron}(n) -- n being the degrees of freedom of the robot under study. The proposed methodology is based on the Gaussian elimination of the inertia matrix, in contrast to, say, Kalman filtering, which is proposed elsewhere. The derivation is illustrated with a three-degrees-of-freedom planar robot.
- OSTI ID:
- 320869
- Journal Information:
- International Journal of Robotics Research, Journal Name: International Journal of Robotics Research Journal Issue: 1 Vol. 18; ISSN IJRREL; ISSN 0278-3649
- Country of Publication:
- United States
- Language:
- English
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