DocumentCode
3493124
Title
Symbolic factorization of inertia matrix for space robot simulation
Author
Saha, Subir Kumar
Author_Institution
R&D Center, Toshiba Corp., Kawasaki, Japan
fYear
1995
fDate
26-28 Jul 1995
Firstpage
1137
Lastpage
1142
Abstract
In the simulation of a space robot, factorization of its inertia matrix is necessary to solve for the joint accelerations. Usually this factorization is done numerically. For that, the computational complexity is cubic in the degrees of freedom (DOF) of the system at hand. In this paper, a symbolic factorization of the inertia matrix is presented. This allows one to calculate the joint accelerations with the complexity that is linear in the DOF. The approach is originally introduced for the simulation of fixed-base industrial manipulators. Here, the method is extended to serial type space robots
Keywords
aerospace control; computational complexity; inertial navigation; matrix algebra; robots; simulation; symbol manipulation; computational complexity; inertia matrix; joint accelerations; reverse Gaussian elimination; simulation; space robot; symbolic factorization; Acceleration; Filtering; Orbital robotics; Robots; Space vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers
Conference_Location
Hokkaido
Print_ISBN
0-7803-2781-0
Type
conf
DOI
10.1109/SICE.1995.526644
Filename
526644
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