Graph Theory Connections
This chapter uses the articulated body model to derive a new Innovations Operator Factorization of the serial–chain mass matrix, M. This factorization has square fac- tors, in contrast to the non-square Newton–Euler factorization ofM= HfMf*H* in (5.23). The Innovations factorization is subsequently used to obtain an explicit analytical operator expression for the inverse of the mass matrix. These factoriza– tions have many important uses, which will be explored in subsequent chapters.
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