Improved method for computation of manipulator inertia matrix developed, based on concept of spatial inertia of composite rigid body. Required for implementation of advanced dynamic-control schemes as well as dynamic simulation of manipulator motion. Motivated by increasing demand for fast algorithms to provide real-time control and simulation capability and, particularly, need for faster-than-real-time simulation capability, required in many anticipated space teleoperation applications.


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    Titel :

    Efficient Computation Of Manipulator Inertia Matrix


    Beteiligte:
    Fijany, Amir (Autor:in) / Bejczy, Antal K. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1991-05-01



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch





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