Efficient Derivative Evaluation for Rigid-Body Dynamics Based on Recursive Algorithms Subject to Kinematic and Loop Constraints

Simulation and control of robotic and bio-mechanical systems depend on a mathematical model description, typically a rigid-body system connected by joints, for which efficient algorithms to compute the forward or inverse dynamics exist. Gradient-based optimization and control methods require derivat...

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Bibliographic Details

Published in:	IEEE control systems letters Vol. 3; no. 3; pp. 619 - 624
Main Authors:	Kudruss, Manuel, Manns, Paul, Kirches, Christian
Format:	Journal Article
Language:	English
Published:	IEEE 01.07.2019
Subjects:	control applications Dynamics Heuristic algorithms Kinematics Libraries Mathematical model Numerical algorithms Optimal control robotics Robots
ISSN:	2475-1456, 2475-1456
Online Access:	Get full text
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