Skip navigation
Skip navigation

Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees

Featherstone, Roy

Description

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]

CollectionsANU Research Publications
Date published: 2005
Type: Journal article
URI: http://hdl.handle.net/1885/81570
Source: International Journal of Robotics Research
DOI: 10.1177/0278364905054928

Download

File Description SizeFormat Image
01_Featherstone_Efficient_Factorization_of_the_2005.pdf256.68 kBAdobe PDF    Request a copy
02_Featherstone_Efficient_Factorization_of_the_2005.pdf225.75 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  20 July 2017/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator