TY - JOUR
T1 - A recursive formula for the inverse of the inertia matrix of a parallel manipulator
AU - Bhattacharya, Soumya
AU - Nenchev, Dragomir N.
AU - Uchiyama, Masaru
PY - 1998/10/1
Y1 - 1998/10/1
N2 - The dynamic equations of a parallel manipulator have a parallel structure. This paper shows that this parallelism gives rise to a recursive formula for the inverse of the inertia matrix of the manipulator. The formula generally requires no numerical methods, which are often used for calculating the inverse of the matrix; therefore, the formula is expected to yield high numerical accuracy. It is also shown that in some special cases, the formula does not involve any matrix inversion at all.
AB - The dynamic equations of a parallel manipulator have a parallel structure. This paper shows that this parallelism gives rise to a recursive formula for the inverse of the inertia matrix of the manipulator. The formula generally requires no numerical methods, which are often used for calculating the inverse of the matrix; therefore, the formula is expected to yield high numerical accuracy. It is also shown that in some special cases, the formula does not involve any matrix inversion at all.
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U2 - 10.1016/S0094-114X(97)00105-5
DO - 10.1016/S0094-114X(97)00105-5
M3 - Article
AN - SCOPUS:0032184478
VL - 33
SP - 957
EP - 964
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0374-1052
IS - 7
ER -