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A new perspective towards decomposition of the generalized inertia matrix of multibody systems
, S.K. Saha, J.K. Dutt
Published in Springer Netherlands
Volume: 43
Issue: 2
Pages: 97 - 130
This paper presents a new perspective into the decomposition of the Generalized Inertia Matrix (GIM) of multibody systems with open kinematic architecture, serial or tree-type. Links and kinematic pairs are the two constituting elements of multibody systems. In this work, we propose to decompose a multi-branch multibody system into several kinematic modules. Each module is a set of serially connected links like a serial-chain system. Such a description allows one to obtain a block decomposition U¯ D¯ U¯ T of the GIM where U¯ and D¯ are the block upper-triangular and diagonal matrices, respectively. The results provide a recursive inverse of the GIM on module-level. Many new perspectives leading to macroscopic purview of the complex multibody systems are provided. Empowered with the proposed decomposition, an inter- and intra-modular efficient and numerically stable recursive dynamics algorithm for forward dynamics and simulation was possible. While recursive expressions are derived for a four degree-of-freedom gripper, numerical results are shown for a spatial biped. © 2017, Springer Science+Business Media B.V.
About the journal
JournalData powered by TypesetMultibody System Dynamics
PublisherData powered by TypesetSpringer Netherlands
Open AccessNo