Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
Shivesh Kumar Andreas Müller Shivesh Kumar Andreas Müller
Derivatives of equations of motion describing the rigid body dynamics are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the ...