Alternate Formulations for the Operational Space Inertia Matrix

Abstract

The operational space inertia matrix, A, like its joint space counterpart, H, is an inertial quantity which defines the dynamic relationship between certain forces exerted on a manipulator and a corresponding acceleration vector. In the case of the joint space inertia matrix, H, the forces of interest are the actuator joint forces and torques, and the corresponding acceleration is the joint acceleration vector. On the other hand, A relates the spatial vector of forces and moments exerted at the tip or end effector and the spatial acceleration of this same point. Matrix or vector quantities which are defined with respect to the end effector are often said to be in “workspace” or “operational space” coordinates. Hence, A is called the operational space inertia matrix of a manipulator.KeywordsRecursive EquationPrismatic JointBase MemberSpace InertiaInertia PropagationThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.