How do I compute the maximum values for ||M(q)|| and ||M_dot(q)||, the induced 2-norms, where M(q) is the mass matrix from the standard dynamical model of a robotic manipulator. I have the numerical values but not the analytical symbolic representation.


1 Answer 1


I think this is an eigenvalue problem because:

  1. The mass matrix can be assumed to be PSD
  2. The induced norm of a PSD matrix is see here $\sqrt{\lambda_{max}(A^TA)}$

So for anything but the smallest matrices, you should use iterative methods to determine the norm (i.e., there is no closed-form solution).


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.