论文标题
刚体逆动力学的二阶部分导数的详细信息
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
论文作者
论文摘要
提供了刚体逆/正向动力学的二阶部分衍生物的细节。列出了使用空间矢量代数的几种属性和身份，以及它们的详细推导。表达式基于作者对反动力学的一阶部分衍生物的先前工作。对于具有外部力的系统，第一/二阶导数也扩展了。最后，得出了KKT向前动力学和影响动力学衍生物。
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.
