A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of Parallel Kinematic Manipulators
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DOI: 10.1109/lra.2023.3267005
Abstract: Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics solution, for which algorithms were proposed. Trajectory control of parallel kinematics… read more here.
Keywords: time; lie group; derivatives inverse; group formulation ... See more keywords