Simulation of industrial manipulators based on the \(UDU^T\) decomposition of inertia matrix

DOI10.1023/A:1021659722559zbMath1181.70004OpenAlexW2117879295MaRDI QIDQ1855338

Subir Kumar Saha

Publication date: 4 February 2003

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1021659722559

zbMATH Keywords

simulationrecursive algorithmforward dynamicsmanipulators

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)

Related Items

A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators, SVD‐aided EKF attitude estimation with UD factorized measurement noise covariance, A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links, Dynamics of serial chain systems using dual algebra