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.
Efficient analytical derivatives of rigid-body dy- namics using spatial vector algebra.IEEE Robotics and Automation Letters, 7(2):1776–1783
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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.