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• W3112845749 abstract "Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces required to achieve a desired motion. In view of the required computational efficiency, recursive O(n)-algorithms were proposed to this end. Aiming at compact yet efficient formulations, a Lie group formulation was recently proposed, making use of body-fixed and hybrid representation of twists and wrenches. In this letter, a formulation is introduced using the spatial representation. The second-order inverse dynamics algorithm is accompanied by a fourth-order forward and inverse kinematics algorithm. An advantage of all Lie group formulations is that they can be parameterized in terms of vectorial quantities that are readily available. The method is demonstrated for the 7 DOF Franka Emika Panda robot." @default.
• W3112845749 created "2020-12-21" @default.
• W3112845749 creator A5057420930 @default.
• W3112845749 date "2021-04-01" @default.
• W3112845749 modified "2023-10-01" @default.
• W3112845749 title "An <i>O(n)</i>-Algorithm for the Higher-Order Kinematics and Inverse Dynamics of Serial Manipulators Using Spatial Representation of Twists" @default.
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• W3112845749 doi "https://doi.org/10.1109/lra.2020.3044028" @default.
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