Corpus ID: 234358101

Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra

@article{Singh2021EfficientAD,
  title={Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra},
  author={Shubham Singh and R. Russell and P. Wensing},
  journal={ArXiv},
  year={2021},
  volume={abs/2105.05102}
}
Optimization algorithms are increasingly important for the control of rigid-body systems. An essential requirement for these algorithms is the availability of accurate partial derivatives of the equations of motion with respect to the state and control variables. State of the art methods for calculating the derivatives use analytical differentiation methods based on the chain rule, and although these methods are an improvement over finite-difference in terms of accuracy, they are not always the… Expand

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