A recursive formula for the inverse of the inertia matrix of a parallel manipulator

Soumya Bhattacharya; Dragomir N. Nenchev; Masaru Uchiyama

doi:10.1016/S0094-114X(97)00105-5

A recursive formula for the inverse of the inertia matrix of a parallel manipulator

Soumya Bhattacharya, Dragomir N. Nenchev, Masaru Uchiyama

Research output: Contribution to journal › Article › peer-review

42 Citations (Scopus)

Abstract

The dynamic equations of a parallel manipulator have a parallel structure. This paper shows that this parallelism gives rise to a recursive formula for the inverse of the inertia matrix of the manipulator. The formula generally requires no numerical methods, which are often used for calculating the inverse of the matrix; therefore, the formula is expected to yield high numerical accuracy. It is also shown that in some special cases, the formula does not involve any matrix inversion at all.

Original language	English
Pages (from-to)	957-964
Number of pages	8
Journal	Mechanism and Machine Theory
Volume	33
Issue number	7
DOIs	https://doi.org/10.1016/S0094-114X(97)00105-5
Publication status	Published - 1998 Oct 1

ASJC Scopus subject areas

Bioengineering
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

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A recursive formula for the inverse of the inertia matrix of a parallel manipulator

Abstract

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