Cultural advice

The Australian National University acknowledges, celebrates and pays our respects to the Ngunnawal and Ngambri people of the Canberra region and to all First Nations Australians on whose traditional lands we meet and work, and whose cultures are among the oldest continuing cultures in human history.

Aboriginal and Torres Strait Islander peoples are advised that ANU Library collections may include images, names, voices, and other representations of deceased persons.

Material in the collection may contain terms, language or views that reflect the period in which the item was created and may be considered inappropriate today.

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

Date

Authors

Featherstone, Roy

Fijany, Amir

Publisher

Springer

Abstract

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

Keywords

Keywords: Forward dynamic; Multi-body dynamic; Parallel calculation; Parallel Computation; Robot dynamics; Serial algorithms; Sparse matrices; Time complexity; Computational complexity; Dynamics; Matrix algebra; Optimization; Parallel algorithms; Parallel architect Multibody dynamics, Robot dynamics, Mass matrix factorization, Parallel computation

URI

http://hdl.handle.net/1885/72866

Collections

ANU Research Publications

Source

Multibody System Dynamics

Type

Journal article

DOI

10.1007/s11044-012-9313-z

Restricted until

2037-12-31

Downloads

File

Description

01_Featherstone_A_new_factorization_of_the_2013.pdf (622.56 KB)