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A new factorization of the mass matrix for optimal serial and parallel calculation of multibody dynamics

Featherstone, Roy; Fijany, Amir


This paper describes a new factorization of the inverse of the joint-space inertia matrix M. In this factorization, M-1 is directly obtained as the product of a set of sparse matrices wherein, for a serial chain, only the inversion of a block-tridiagonal

CollectionsANU Research Publications
Date published: 2013
Type: Journal article
Source: Multibody System Dynamics
DOI: 10.1007/s11044-012-9313-z


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