Analytical Expressions of Serial Manipulator Jacobians and their High-Order Derivatives based on Lie Theory
Zhongtao Fu,Emmanouil Spyrakos-Papastavridis,Yen-hua Lin,Jian S. Dai,Zhongtao Fu,Emmanouil Spyrakos-Papastavridis,Yen-hua Lin,Jian S. Dai
Serial manipulator kinematics provide a mapping between joint variables in joint-space coordinates, and end-effector configurations in task-space Cartesian coordinates. Velocity mappings are represented via the manipulator Jacobian produced by direct differentiation of the forward kinematics. Acquisition of acceleration, jerk, and snap expressions, typically utilized for accurate trajectory-tracki...
