Abstract
This paper proposes a novel computing method for higher-order accelerations vector field in the case of rigid body motion and multibody systems, using the property of the hyper-multidual algebra. The equations that allow the determination of higher-order accelerations for the spatial serial kinematic chains are the main subject of this paper. The results are closed-form and coordinate-free. Furthermore, the velocities, accelerations, jerks, and jounces fields are offered for an mC general manipulator.
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Condurache, D. (2022). Hyper-multidual Algebra and Higher-Order Kinematics. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_7
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DOI: https://doi.org/10.1007/978-3-031-08140-8_7
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