Efficient O(N) computation of the operational space inertia matrix

The development of a recursive algorithm for the operational space inertia matrix, the inertia propagation method, which reduces the computational complexity to O(N) for any manipulator is presented. The algorithm is based on a single recursion which begins at the base of the manipulator and progresses out to the last link. Spatial articulated transformations are utilized in the recursion procedure. The algorithm is the most efficient method known for N ⩾6. The numerical accuracy of the algorithm is tested for a PUMA 560 robot with a fixed base. The results demonstrate the accuracy of the inertia propagation method for such a configuration