An Empirical Study of the Joint Space Inertia Matrix
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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]
dc.contributor.author | Featherstone, Roy | |
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dc.date.accessioned | 2015-12-13T22:40:10Z | |
dc.identifier.issn | 0278-3649 | |
dc.identifier.uri | http://hdl.handle.net/1885/78122 | |
dc.description.abstract | 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 from O(N) to O(N4) with the number of bodies in the system. Several graphs are presented, showing how the condition number varies with configuration, the number of links, variations in link sizes, variations in connectivity, and fixed or floating bases. Explanations are offered for some of the observed effects. | |
dc.publisher | Sage Publications Inc | |
dc.source | International Journal of Robotics Research | |
dc.subject | Keywords: Condition numbers; Ill-conditioning; Inertia matrix; Mass matrix; Rigid body dynamics; Robot dynamics; Algorithms; Computer simulation; Degrees of freedom (mechanics); Eigenvalues and eigenfunctions; Equations of motion; Error analysis; Kinematics; Mathem Condition number; Ill-conditioning; Inertia matrix; Mass matrix; Rigid body dynamics; Robot dynamics | |
dc.title | An Empirical Study of the Joint Space Inertia Matrix | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
local.identifier.citationvolume | 23 | |
dc.date.issued | 2004 | |
local.identifier.absfor | 080101 - Adaptive Agents and Intelligent Robotics | |
local.identifier.ariespublication | MigratedxPub6808 | |
local.type.status | Published Version | |
local.contributor.affiliation | Featherstone, Roy, College of Engineering and Computer Science, ANU | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.issue | 9 | |
local.bibliographicCitation.startpage | 859 | |
local.bibliographicCitation.lastpage | 871 | |
local.identifier.doi | 10.1177/0278364904044869 | |
local.identifier.absseo | 890399 - Information Services not elsewhere classified | |
dc.date.updated | 2015-12-11T09:54:27Z | |
local.identifier.scopusID | 2-s2.0-4444286227 | |
Collections | ANU Research Publications |
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