Generalized inverses of real dual matrices are classified according to the set of Moore–Penrose conditions satisfied. The present paper offers theoretical and numerical insights regarding the types of dual generalized inverses that can be computed from a recently proposed formula. Moreover, the usefulness of the formula is demonstrated solving different kinematic problems. In particular, thanks to the dual matrix generalized inverse formula availability, the computation of infinite and infinitesimal screw parameters motion from redundant point and line features is obtained within a unified theoretical treatment. Numerical examples and comparison with the results from previous investigations are provided.
On generalized inverses of dual matrices
de Falco D.
Writing – Original Draft Preparation
;
2018
Abstract
Generalized inverses of real dual matrices are classified according to the set of Moore–Penrose conditions satisfied. The present paper offers theoretical and numerical insights regarding the types of dual generalized inverses that can be computed from a recently proposed formula. Moreover, the usefulness of the formula is demonstrated solving different kinematic problems. In particular, thanks to the dual matrix generalized inverse formula availability, the computation of infinite and infinitesimal screw parameters motion from redundant point and line features is obtained within a unified theoretical treatment. Numerical examples and comparison with the results from previous investigations are provided.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
