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- W4285384205 abstract "In this paper, a computing method for the higher-order acceleration vector field properties in general rigid body motion and multibody system is proposed using algebraic properties of dual number algebras. The higher-order accelerations field of a rigid body in a general motion is uniquely determined of higher- order time derivative of a spatial twist. For the relative kinematics in multibody systems, equations that allow the determination of the higher-order order acceleration vector field are given, using an exponential Brockett-like formula in these algebras. This is obtained with no need for further differentiation of the body pose with respect to time variable. The properties for the fields of velocity, acceleration, jerk, and jounce are presented, as well as cases of the general theory. This approach uses the isomorphism between the Lie algebra of the rigid displacements , of the Special Euclidean group, SE3, and the Lie algebra of dual vectors. The results are coordinate-free and in a closed-form." @default.
- W4285384205 created "2022-07-14" @default.
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- W4285384205 date "2022-10-01" @default.
- W4285384205 modified "2023-10-18" @default.
- W4285384205 title "Higher-Order Relative Kinematics of Rigid Body and Multibody Systems. A Novel Approach with Real and Dual Lie Algebras" @default.
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- W4285384205 doi "https://doi.org/10.1016/j.mechmachtheory.2022.104999" @default.
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