Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms

Advanced Robotics

Volumn 14, Issue 8, 2001, Pages 703-715

  Chang, Kyong Sok ^a,b   Khatib, Oussama ^a  

^a Stanford University   (United States)

^b NONE   (United States)

Author keywords

Branching mechanisms; Efficient recursive algorithm; Modified spatial notation; Operational space formulation with multiple operational points; Operational space inertia matrix

Indexed keywords

ALGORITHMS; COMPUTATIONAL COMPLEXITY; COMPUTER SIMULATION; MATRIX ALGEBRA; RECURSIVE FUNCTIONS;

BRANCHING MECHANISMS; OPERATIONAL SPACE INERTIA MATRIX; RECURSIVE ALGORITHM;

ROBOTICS;

EID: 0035022893     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/156855301750078757     Document Type: Article

References (13)

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