Closed-form time derivatives of the equations of motion of rigid body systems

DOI10.1007/S11044-021-09796-8zbMath1483.70026OpenAlexW3185285411MaRDI QIDQ2065581

Yanyan Li

Publication date: 11 January 2022

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-021-09796-8

zbMATH Keywords

rigid body dynamicsLie groupscrewsinverse dynamicsclosed formderivatives of equations of motionhigher-order inverse dynamics

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Dynamics of multibody systems (70E55) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

Related Items (1)

High-order inverse dynamics of serial robots based on projective geometric algebra

Uses Software

• Crocoddyl
• Unnamed Item

Cites Work

• Recursive methods in control of flexible joint manipulators
• Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
• Screw and Lie group theory in multibody dynamics
• Robot and Multibody Dynamics
• Decoupling and feedback linearization of robots with mixed rigid/elastic joints
• Geometric Fundamentals of Robotics
• Robot Dynamics Algorithms
• Unnamed Item

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