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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Vydané v:	IEEE control systems letters Ročník 3; číslo 3; s. 619 - 624
Hlavní autori:	Kudruss, Manuel, Manns, Paul, Kirches, Christian
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	IEEE 01.07.2019
Predmet:	control applications Dynamics Heuristic algorithms Kinematics Libraries Mathematical model Numerical algorithms Optimal control robotics Robots
ISSN:	2475-1456, 2475-1456
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