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Please use this identifier to cite or link to this item: http://eprint.iitd.ac.in/handle/2074/1883

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dc.contributor.authorSaha, Subir Kumar-
dc.identifier.citationRobotics and Automation, IEEE Transactions on, 13(2), 301 - 304p.en
dc.description.abstractA decomposition of the manipulator inertia matrix is essential, for example, in forward dynamics, where the joint accelerations are solved from the dynamical equations of motion. To do this, unlike a numerical algorithm, an analytical approach is suggested in this paper. The approach is based on the symbolic Gaussian elimination of the inertia matrix that reveal recursive relations among the elements of the resulting matrices. As a result, the decomposition can be done with the complexity of order n, O(n), where n being the degrees of freedom of the manipulator, as opposed to an O(n3) scheme, required in the numerical approach. In turn, O(n) inverse and forward dynamics algorithms can be developed. As an illustration, an O(n) forward dynamics algorithm is presenteden
dc.format.extent102793 bytes-
dc.subjectmanipulator inertia matrixen
dc.subjectdynamics algorithmsen
dc.titleA decomposition of the manipulator inertia matrixen
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