Exploiting Sparsity in Operational-space Dynamics

Abstract

This paper presents a new method for calculating operational-space inertia matrices, and other related quantities, for branched kinematic trees. It is based on the exploitation of branch-induced sparsity in the joint-space inertia matrix and the task Jacobian. Detailed cost figures are given for the new method, and its efficacy is demonstrated by means of a… (More)
DOI: 10.1177/0278364909357644

Topics

15 Figures and Tables

Slides referencing similar topics