An efficient algorithm for computation of manipulator inertia matrix

DOI10.1002/ROB.4620070104MaRDI QIDQ3034890zbMATH OpenOpenAlexFDO

Authors Amir Fijany, Antal K. Bejczy

Publication date 1990

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620070104

zbMATH Keywords

choice of coordinate frameintrinsic equationsmanipulator inertia matrixmotion of rigid bodiesNewton's and Euler's lawsprojection of the intrinsic equations

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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Cites work

• Fast parallel preconditioned conjugate gradient algorithms for robot manipulator dynamics simulation
• scientific article; zbMATH DE number 3980578 (Why is no real title available?)
• New class of control laws for robotic manipulators Part 2. Adaptive case
• Parallel computation of manipulator inverse dynamics
• Resolved-acceleration control of mechanical manipulators

Cited in

(11)

• A simple and highly parallelizable method for real-time dynamic simulation based on velocity transformations
• Fast parallel preconditioned conjugate gradient algorithms for robot manipulator dynamics simulation
• Simulation of industrial manipulators based on the UDU^T decomposition of inertia matrix
• A new composite body method for manipulator dynamics
• An algorithm for efficient computation of dynamics of robotic manipulators
• On the computational aspect of the matrix exponentials and their use in robot kinematics
• Parallel computation of manipulator inverse dynamics
• scientific article; zbMATH DE number 1049499 (Why is no real title available?)
• Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators
• Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters
• Computational Science – ICCS 2005

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