Efficient algorithm for extended operational space inertia matrix

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