Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms

Abstract

This article describes an efficient recursive algorithm for the computation of the operational space inertia matrix of an n-link branching robotic mechanism with multiple (m) operational points. The proposed algorithm achieves the complexity of O(nm + m 3). Since m can be considered as a small constant in practice, as the number of links increases, this algorithm performs significantly better than the existing O(n 3 + m 3) symbolic method. The experimental results of this algorithm are presented using real-time dynamic simulation.