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This paper describes an efficient recursive algorithm for the computation of the extended operational space inertia matrix of an n-link branching (tree-like) redundant robotic mechanism with multiple operational points. The proposed algorithm behaves linearly with respect to n in practice. Therefore, as the number of links increases, this algorithm performs significantly better than the existing O(n/sup 3/) symbolic method. The experimental results of this algorithm are presented using real-time dynamic simulation.
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Chang et al. (2003) studied this question.
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