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• W2096593056 abstract "An efficient method of computation of the manipulator inertia matrix is presented. Using spatial notations, the method leads to the definition of the composite rigid-body spatial inertia, which is a spatial representation of the notion of augmented body. The previously proposed methods, the physical interpretations leading to their derivation, and their redundancies are analyzed. The proposed method achieves a greater efficiency by eliminating the redundancy in the intrinsic equations as well as by a better choice of coordinate frame for their projection. In this case, removing the redundancy leads to greater efficiency of the computation in both serial and parallel senses. >" @default.
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• W2096593056 date "2003-01-07" @default.
• W2096593056 modified "2023-10-01" @default.
• W2096593056 title "An efficient method for computation of the manipulator inertia matrix" @default.
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• W2096593056 doi "https://doi.org/10.1109/robot.1989.100170" @default.
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