The joint-space inertia matrix of a robot mechanism can be highly ill-conditioned. This phenomenon is not merely a numerical artifact; it is symptomatic of an underlying property of the mechanism itself that can make it more difficult to simulate or control. This paper investigates the problem by means of an empirical study of the eigenvalues, eigenvectors and condition number of the joint-space inertia matrix. It is shown that the condition number is typically large, and that it grows anywhere...[Show more]
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