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arXiv · 2203.00679

Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics

Shubham Singh·Ryan P. Russell·Patrick M. Wensing
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Abstract

The details of second-order partial derivatives of rigid-body Inverse/Forward dynamics are provided. Several properties and identities using Spatial Vector Algebra are listed, along with their detailed derivations. The expressions build upon previous work by the author on first-order partial derivatives of inverse dynamics. The first/second-order derivatives are also extended for systems with external forces. Finally, the KKT Forward dynamics and Impact dynamics derivatives are derived.

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Shubham Singh, Ryan P. Russell, Patrick M. Wensing. 2022-03-01. Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. https://arxiv.org/abs/2203.00679

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