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The International Journal of Robotics Research
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Analytical Expression for the Inverted Inertia Matrix of Serial Robots

Subir Kumar Saha

Department of Mechanical Engineering, Indian Institute of Technology, Delhi, Hauz Khas, New Delhi 110 016, Indiasaha{at}mech.iitd.ernet.in

This paper presents the analytical derivation of the inertia matrix and its inverse for an open-loop, serial-chain mbot. The derivation allows one to write a recursiveforward-dynamics algorithmforsimulation purposes whose computational complexity is of order a, i.e., O(n) n being the degrees offreedom of the robot under study The proposed methodology is based on the Gaussian elimination of the inertia matrix, in contrast to, say, Kalmanftltering; which is proposed elsewhere. The derivation is illustrated with a three-degrees-of-freedom planar robot.

The International Journal of Robotics Research, Vol. 18, No. 1, 116-124 (1999)
DOI: 10.1177/027836499901800108
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