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

Thumbnail Image

Date

2013

Authors

Featherstone, Roy
Fijany, Amir

Journal Title

Journal ISSN

Volume Title

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

Description

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

Citation

URI

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

Collections

ANU Research Publications

Source

Multibody System Dynamics

Type

Journal article

Book Title

Entity type

Access Statement

License Rights

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)

DSpace software copyright © 2002-2026 LYRASIS