逆动力学的n阶解析时间导数的递归和封闭形式
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
摘要：
描述刚体动力学的运动方程的导数正变得越来越与机器人社区相关，并在机器人系统的设计和控制中找到许多应用。控制机器人，特别是包括弹性部件的多体系统，不仅需要平滑的轨迹，而且需要控制力/扭矩的时间导数，因此需要运动方程（EOM）的时间导数。本文提出了新的n阶时间导数的封闭和递归形式的EOM。虽然前者提供了一个直接洞察这些衍生物的结构，后者导致他们的高效率的大自由度机器人系统的实施。
英文摘要：
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 equations of motion (EOM). This paper presents novel nth order time derivatives of the EOM in both closed and recursive forms. While the former provides a direct insight into the structure of these derivatives,the latter leads to their highly efficient implementation for large degree of freedom robotic system.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
