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• W4386088953 endingPage "105451" @default.
• W4386088953 startingPage "105451" @default.
• W4386088953 abstract "Exponential coordinates are widely used in simulation codes for flexible multibody systems based on a Lie group approach. The accurate and efficient evaluation of the exponential map, the tangent operator and its higher order derivatives is crucial. This paper presents a systematic derivation process based on the matrix series expansion of the exponential map and of the tangent operator. This approach is general as it can be applied to any matrix Lie group. For the Lie groups SO(3) and SE(3), the closed form expression of these operators can also be established and is summarized in the paper. It is shown that the closed form of the operators is affected by round-off errors for small rotation amplitudes, whereas the series form is affected by truncation errors at high rotation amplitudes. The computational efficiency of the two approaches is also discussed. A switching strategy between the closed form and the series form is then proposed to obtain an adjustable compromise between accuracy and computational cost." @default.
• W4386088953 created "2023-08-24" @default.
• W4386088953 creator A5023087406 @default.
• W4386088953 creator A5075450011 @default.
• W4386088953 date "2023-12-01" @default.
• W4386088953 modified "2023-09-26" @default.
• W4386088953 title "Highly accurate differentiation of the exponential map and its tangent operator" @default.
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• W4386088953 doi "https://doi.org/10.1016/j.mechmachtheory.2023.105451" @default.
• W4386088953 hasPublicationYear "2023" @default.
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