Inversion of dynamic matrices of HDD head positioning system

摘要

The aim of this article is to propose a new concept of the kinematics chain description of head positioning servomechanism and, subsequently, its mathematical modeling allowing for simultaneously reading data on multiple sides of magnetic disks. The Denavit-Harten-berg notation and Lagrange equations will be formulated and expressed by using the block matrix notation. Also, a new method of inversion of the generalized inertial matrix (in block form) will be shown.