th dof
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
Singh, Shubham, Russell, Ryan P., Wensing, Patrick M.
The details of second-order partial derivatives of rigid-body Inverse/Forward dynamics are provided. Several properties and identities using Spatial Vector Algebra are listed, along with their detailed derivations. The expressions build upon previous work by the author on first-order partial derivatives of inverse dynamics. The first/second-order derivatives are also extended for systems with external forces. Finally, the KKT Forward dynamics and Impact dynamics derivatives are derived.
2203.00679
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- North America > United States > Texas > Travis County > Austin (0.14)
- North America > United States > Indiana > St. Joseph County > Notre Dame (0.04)
- Europe > France > Occitanie > Haute-Garonne > Toulouse (0.04)