Spatial operator factorization and inversion of the manipulator mass matrix

Author

Rodriguez, Guillermo ; Kreutz-Delgado, Kenneth

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

8

Issue

1

fYear

1992

fDate

2/1/1992 12:00:00 AM

Firstpage

65

Lastpage

76

Abstract

This paper advances two linear operator factorizations of the manipulator mass matrix. Embedded in the factorizations are many of the techniques that are regarded as very efficient computational solutions to inverse and forward dynamics problems. The operator factorizations provide a high-level architectural understanding of the mass matrix and its inverse, which is not visible in the detailed algorithms. They also lead to an approach to the development of computer programs or the organisation of complexity in robot dynamics

Keywords

dynamics; matrix algebra; robots; complexity organisation; high-level architectural understanding; inverse dynamics; linear operator factorizations; manipulator mass matrix; spatial operator factorization; spatial operator inversion; Aerodynamics; Filtering; Laboratories; Manipulator dynamics; Nonlinear filters; Propulsion; Riccati equations; Smoothing methods; Space technology; Technological innovation;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.127240

Filename

127240