Analytical differentiation of the articulated-body algorithm: a geometric multilinear approach

DOI10.1007/S11044-023-09907-7zbMATH Open1546.70057MaRDI QIDQ6544714

Gustavo Arechavaleta, Alvaro Paz

Publication date: 27 May 2024

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

zbMATH Keywords

Lie groupsrobot dynamicsarticulated rigid-body algorithms

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Title not available (Why is that?)
• Title not available (Why is that?)
• 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
• CasADi: a software framework for nonlinear optimization and optimal control
• Block Tensor Unfoldings
• Practical Methods for Optimal Control and Estimation Using Nonlinear Programming
• An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation
• Geometric Fundamentals of Robotics
• CGPOPS
• Robot Dynamics Algorithms

This page was built for publication: Analytical differentiation of the articulated-body algorithm: a geometric multilinear approach

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6544714)