I'm developing a optimization solution for problem related to robotics motion. My question about the matrix if the values inside the mass the mass matrix are always positive for each configuration or not?
Saman Rahbar
Dear Ahmad,
Not necessarily , It can also be negative as in some situations it shows the mass coordination too, you may want to look at MIT ROBOTIC digital Library for further information .
Regards,
S.R
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Karl Gotlih
The mass matrix is always positive definite, but the non diagonal elements can be negative. The mass matrix is also a symmetric matrix.
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Karl Gotlih
The diagonal elements are always positive, All others can be also negative.
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Boubakeur Benahmed
Dear Karl Gotlih,
can you please give me the reference for the proof of this result?
Thank's
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