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Efficient Computation Of Manipulator Inertia MatrixImproved 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.
Document ID
19910000229
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Fijany, Amir
(Caltech)
Bejczy, Antal K.
(Caltech)
Date Acquired
August 14, 2013
Publication Date
May 1, 1991
Publication Information
Publication: NASA Tech Briefs
Volume: 15
Issue: 5
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-17545
Accession Number
91B10229
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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