Develops analytical Jacobian expressions for kinematic and dynamic quantities including higher-order time derivatives in multi-link systems to improve efficiency in direct and inverse motion optimization.
Lin- earization of manipulator dynamics using spatial op- erators.IEEE transactions on Systems, Man, and Cy- bernetics, 23(1):239–248
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Structured Jacobian Construction for Motion Optimization with High-Order Time Derivatives in Multi-Link Systems
Develops analytical Jacobian expressions for kinematic and dynamic quantities including higher-order time derivatives in multi-link systems to improve efficiency in direct and inverse motion optimization.