The central topic of this paper is to formulate the inertia matrix for the dynamic simulation of robots. An explicit formulation and a computer algorithm are developed. It is found that the present method is satisfactorily adequate for industrial robots, since it is more efficient than the Walker and Orin's composite body method for robots with 6 or fewer joints. The extension to the general chain with a tree structure is also discussed. Some decomposition methods to solve linear equations are surveyed in order to find out a most adequate one for industrial robots.
|Number of pages||6|
|Journal||IFAC Proceedings Series|
|State||Published - 1 Dec 1989|
|Event||Robot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium - Karlsruhe, FRG|
Duration: 5 Oct 1988 → 7 Oct 1988