Automatic differential kinematics of serial manipulator robots through dual numbers
Dual Numbers are an extension of real numbers known for its capability of performing exact automatic differentiation of one-valued functions theoretically without error approximation. Also, Differential Kinematics of robots involves the computation of the Jacobian, which is a matrix of partial deri...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Universidad Tecnologica de Bolivar
2024-10-01
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| Series: | TESEA, Transactions on Energy Systems and Engineering Applications |
| Subjects: | |
| Online Access: | https://revistas.utb.edu.co/tesea/article/view/625 |