• DocumentCode
    349022
  • Title

    Efficient algorithm for extended operational space inertia matrix

  • Author

    Chang, Kyong-Sok ; Khatib, Oussama

  • Author_Institution
    Dept. of Comput. Sci., Stanford Univ., CA, USA
  • Volume
    1
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    350
  • Abstract
    This paper describes an efficient recursive algorithm for the computation of the extended operational space inertia matrix of an n-link branching (tree-like) redundant robotic mechanism with multiple operational points. The proposed algorithm behaves linearly with respect to n in practice. Therefore, as the number of links increases, this algorithm performs significantly better than the existing O(n3) symbolic method. The experimental results of this algorithm are presented using real-time dynamic simulation
  • Keywords
    computational complexity; manipulator dynamics; matrix algebra; redundant manipulators; computational complexity; dynamic simulation; kinematics; operational space inertia matrix; recursive algorithm; redundant manipulators; Acceleration; Computer science; Humanoid robots; Kinematics; Null space; Orbital robotics; Symmetric matrices; Topology; Tree data structures; Vectors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
  • Conference_Location
    Kyongju
  • Print_ISBN
    0-7803-5184-3
  • Type

    conf

  • DOI
    10.1109/IROS.1999.813028
  • Filename
    813028
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=349022