動力学arXiv:2203.00679
剛体逆動力学の二階偏微分の詳細
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
空間ベクトル代数を用いて剛体の逆動力学・順動力学の二階偏微分を導出し、外力系やKKT順動力学・衝撃動力学への拡張も示した論文。
著者: Shubham Singh, Ryan P. Russell, Patrick M. Wensing
分類: cs.RO
原文アブストラクト
The details of second-order partial derivatives of rigid-body Inverse/Forward dynamics are provided. Several properties and identities using Spatial Vector Algebra are listed, along with their detailed derivations. The expressions build upon previous work by the author on first-order partial derivatives of inverse dynamics. The first/second-order derivatives are also extended for systems with external forces. Finally, the KKT Forward dynamics and Impact dynamics derivatives are derived.
