Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms

This article describes an efficient recursive algorithm for the computation of the operational space inertia matrix of an n-link branching robotic mechanism with multiple (m) operational points. The proposed algorithm achieves the complexity of O(nm +m(3)). Since m can be considered as a small constant in practice, as the number of links increases, this algorithm performs significantly better than the existing O(n(3) + m(3)) symbolic method. The experimental results of this algorithm are presented using real-time dynamic simulation.