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.
Efficient Computation Of Manipulator Inertia Matrix
NASA Tech Briefs ; 15 , 5
1991-05-01
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Englisch
A recursive formula for the inverse of the inertia matrix of a parallel manipulator
Online Contents | 1998
|Statistics of rigid body moment of inertia computation.
AIAA | 1967
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