Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees
This paper describes new factorization algorithms that exploit branch-induced sparsity in the joint-space inertia matrix (JSIM) of a kinematic tree. It also presents new formulae that show how the cost of calculating and factorizing the JSIM vary with the topology of the tree. These formulae show that the cost of calculating for-ward dynamics for a branched tree can be considerably less than the cost for an unbranched tree of the same site. Branches can also reduce complexity; some examples are...[Show more]
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