A decomposition of the manipulator inertia matrix

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 2, 1997, Pages 301-304

  Saha, Subir Kumar ^a  

^a INDIAN INSTITUTE OF TECHNOLOGY DELHI   (India)

Author keywords

Articulated body inertia; Kalman filtering; Reverse Gaussian Elimination (RGE); Serial manipulator; Symbolic decomposition

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; KALMAN FILTERING;

ARTICULATED BODY INERTIA; REVERSE GAUSSIAN ELIMINATION (RGE); SYMBOLIC DECOMPOSITION;

MANIPULATORS;

EID: 0031120319     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.563652     Document Type: Article

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