Explicit Inversion/Multiplication Method

Perhaps the simplest and most obvious way to compute the opmtional space inertia matrix (or its inverse) is by the explicit inversion and multiplication of the Jacobian and joint space inertia matrices as shown in Equations 4.19 and 4.20. We will call this the Explicit Inversion/Multiplication Method. Although we will see that this is not the most efficient approach, it is in standard use today and may serve as a benchmark for new computational approaches. 

The scalar operations (multiplications, additions) required to compute A and its inverse using the Explicit Inversiori/Multiplication Method are shown in Thble 4.2. All operations are given for an V degree-of-freedom manipulator... 

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