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

Featherstone, RoyFijany, Amir2015-12-131573-272Xhttp://hdl.handle.net/1885/72866This 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-tridiagonalKeywords: 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 computationA new factorization of the mass matrix for optimal serial and parallel calculation of multibody dynamics201310.1007/s11044-012-9313-z2016-02-24