Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199912)16:12<679::AID-ROB2>3.0.CO;2-Y" /><679::AID-ROB2>3.0.CO;2-Y 10.1002/(SICI)1097-4563(199912)16:12<679::AID-ROB2>3.0.CO;2-YzbMath0958.70005OpenAlexW1974141195MaRDI QIDQ4952075

Shirkuan Lin, Chang-Jia Fang

Publication date: 24 July 2000

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199912)16:12<679::aid-rob2>3.0.co;2-y

zbMATH Keywords

first momentsinertia matrixinertia tensorscomposite body methodminimal linear combinations of inertia parameters

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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