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.
|Number of pages||8|
|Journal||Mechanism and Machine Theory|
|Publication status||Published - 1998 Oct 1|
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications