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Efficient O(N) recursive computation of the operational space inertia matrix

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2 Author(s)
Lilly, K.W. ; Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA ; Orin, D.E.

The operational space inertia matrix Λ reflects the dynamic properties of a robot manipulator to its tip. In the control domain, it may be used to decouple force and/or motion control about the manipulator workspace axes. The matrix Λ also plays an important role in the development of efficient algorithms for the dynamic simulation of closed-chain robotic mechanisms, such as multiple manipulator systems and walking machines. This paper presents the development of a recursive algorithm for computing the operational space inertia matrix (OSIM) that reduces the computational complexity to O(N). This algorithm, the inertia propagation method, is based on a single recursion that begins at the base of the manipulator and progresses out to the last link. Also applicable to redundant systems and mechanisms with multiple-degree-of-freedom joints, the inertia propagation method is the most efficient method known for computing Λ for N⩾6. The numerical accuracy of the algorithm is discussed for a PUMA 560 robot with a fixed base

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:23 ,  Issue: 5 )