A recursive formula for the inverse of the inertia matrix of a parallel manipulator

被引：33

作者：

Bhattacharya, S ^{[1
]}

Nenchev, DN ^{[1
]}

Uchiyama, M ^{[1
]}

机构：

[1] Tohoku Univ, Fac Engn, Dept Aeronaut & Space Engn, Aoba Ku, Sendai, Miyagi 98077, Japan

来源：

MECHANISM AND MACHINE THEORY | 1998年 / 33卷 / 07期

关键词：

D O I：

10.1016/S0094-114X(97)00105-5

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The dynamic equations of a parallel manipulator have a parallel structure. This paper shows that this parallelism gives rise to a recursive formula for the inverse of the inertia matrix of the manipulator. The formula generally requires no numerical methods, which are often used for calculating the inverse of the matrix; therefore, the formula is expected to yield high numerical accuracy. It is also shown that in some special cases, the formula does not involve ally matrix inversion at all. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：957 / 964

页数：8

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