A reduced-order recursive algorithm for the computation of the operational-space inertia matrix
This paper provides a reduced-order algorithm, the Extended-Force- Propagator Algorithm (EFPA), for the computation of operational-space inertia matrices in branched kinematic trees. The algorithm accommodates an operational space of multiple end-effectors, and is the lowest-order algorithm published to date for this computation. The key feature of this algorithm is the explicit calculation and use of matrices that propagate a force across a span of several links in a single operation. This...[Show more]
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