Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations

@article{Nori2017InverseFA,
  title={Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations},
  author={Francesco Nori},
  journal={2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)},
  year={2017},
  pages={371-377}
}
  • F. Nori
  • Published 12 May 2017
  • Computer Science
  • 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)
We propose an algorithm to compute the dynamics of articulated rigid-bodies with different sensor distributions. Prior to the on-line computations, the proposed algorithm performs an off-line optimisation step to simplify the computational complexity of the underlying solution. This optimisation step consists in formulating the dynamic computations as a system of linear equations. The computational complexity of computing the associated solution is reduced by performing a permuted LU… 

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