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Spatial operator factorization and inversion of the manipulator mass matrixThis paper advances two linear operator factorizations of the manipulator mass matrix. Embedded in the factorizations are many of the techniques that are regarded as very efficient computational solutions to inverse and forward dynamics problems. The operator factorizations provide a high-level architectural understanding of the mass matrix and its inverse, which is not visible in the detailed algorithms. They also lead to a new approach to the development of computer programs or organize complexity in robot dynamics.
Document ID
19920047082
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Rodriguez, Guillermo
(JPL Pasadena, CA, United States)
Kreutz-Delgado, Kenneth
(California, University La Jolla, United States)
Date Acquired
August 15, 2013
Publication Date
February 1, 1992
Publication Information
Publication: IEEE Transactions on Robotics and Automation
Volume: 8
ISSN: 1042-296X
Subject Category
Mechanical Engineering
Accession Number
92A29706
Distribution Limits
Public
Copyright
Other

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