Efficient Derivative Evaluation for Rigid-body Dynamics based on Recursive Algorithms subject to Kinematic and Loop Constraints
Simulation, optimization and control of robotic and bio-mechanical systems depend on a mathematical model description, typically a rigid-body system connected by joints, for which efficient algorithms to compute the forward or inverse dynamics exist. Models that e.g.\ include spring-damper systems are subject to both kinematic and loop constraints. Gradient-based optimization and control methods require derivatives … Read more