What is it about?
A general method for studying the vector field of arbitrary higher-order accelerations is described. The “automatic differentiation” feature of the hyper-multidual functions is used to obtain the higher-order derivative of a rigid body pose.
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Why is it important?
The development of high-precision robotic systems, artificial vision systems, and molecular dynamics, new space docking procedures, require procedures to calculate higher-order accelerations.
Perspectives
The results interest the theoretical kinematics, higher-order kinematics analysis in the case of serial manipulator, control theory and multibody kinematics.
Prof. Daniel Condurache
Gheorghe Asachi Technical University of Iasi
Read the Original
This page is a summary of: Higher-Order Kinematics of Lower-Pair Chains With Hyper-Multidual Algebra, August 2022, ASME International,
DOI: 10.1115/detc2022-88781.
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