By Topic

Spatial operator factorization and inversion of the manipulator mass matrix

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Rodriguez , G. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA ; Kreutz-Delgado, K.

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

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 1 )