Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators.
Ignacy DulebaPublished in: J. Field Robotics (2002)
Keyphrases
- control law
- structural properties
- dynamical systems
- adaptive control
- control scheme
- sparse matrix
- dynamic model
- transformation matrix
- eigenvalues and eigenvectors
- topological properties
- rows and columns
- three dimensional
- matrix representation
- network evolution
- symmetric matrix
- singular value decomposition
- tree width
- symmetric matrices
- positive definite
- joint space
- feature vectors
- dot product
- degrees of freedom