Abstract
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>or=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. >
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.