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

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dc.contributor.authorFeatherstone, Roy
dc.contributor.authorFijany, Amir
dc.date.accessioned2015-12-13T22:24:43Z
dc.date.issued2013
dc.date.updated2016-02-24T09:11:18Z
dc.description.abstractThis 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
dc.identifier.issn1573-272X
dc.identifier.urihttp://hdl.handle.net/1885/72866
dc.publisherSpringer
dc.sourceMultibody System Dynamics
dc.subjectKeywords: 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
dc.titleA new factorization of the mass matrix for optimal serial and parallel calculation of multibody dynamics
dc.typeJournal article
local.bibliographicCitation.issue2
local.bibliographicCitation.lastpage187
local.bibliographicCitation.startpage169
local.contributor.affiliationFeatherstone, Roy, College of Engineering and Computer Science, ANU
local.contributor.affiliationFijany, Amir, Italian Institute of Technology
local.contributor.authoruidFeatherstone, Roy, u4031973
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.identifier.absfor080100 - ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING
local.identifier.ariespublicationf5625xPUB3462
local.identifier.citationvolume29
local.identifier.doi10.1007/s11044-012-9313-z
local.identifier.scopusID2-s2.0-84878501088
local.type.statusPublished Version

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