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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    Title :

    Hyper-multidual Algebra and Higher-Order Kinematics


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Publication date :

    2022-06-18


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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