O(n) mass matrix inversion for serial manipulators and polypeptide chains using Lie derivatives

Robotica

Volumn 25, Issue 6, 2007, Pages 739-750

  Lee, Kiju ^a   Wang, Yunfeng ^b   Chirikjian, Gregory S ^a  

^a Johns Hopkins University   (United States)

^b The College of New Jersey   (United States)

Author keywords

Forward dynamics; Mass matrix inversion; Polymer chains; Polypeptides; Serial manipulators

Indexed keywords

COMPUTATION THEORY; INVERSE KINEMATICS; MATRIX ALGEBRA; POLYPEPTIDES; ROBOTICS;

FORWARD DYNAMICS; LIE DERIVATIVES; MASS-MATRIX INVERSION; MULTIBODY DYNAMICS; POLYMER CHAINS; SERIAL MANIPULATORS;

MANIPULATORS;

EID: 35548968928     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574707003852     Document Type: Article

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