A recursive formula for the inverse of the inertia matrix of a parallel manipulator

Soumya Bhattacharya, Dragomir N. Nenchev, Masaru Uchiyama

    研究成果: Article査読

    38 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ(範囲)957-964
    ページ数8
    ジャーナルMechanism and Machine Theory
    33
    7
    DOI
    出版ステータスPublished - 1998 10 1

    ASJC Scopus subject areas

    • Bioengineering
    • Mechanics of Materials
    • Mechanical Engineering
    • Computer Science Applications

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