A method for computing the Hessian tensor of loop closing conditions in multibody systems
Multibody System Dynamics, Volume 30, Issue 2, 2012.
This paper presents a method for computing the Hessian tensor of loop closing conditions employing the relative coordinate systems for the multibody system dynamics. Based on the efficient Jacobian computation method proposed by Orin et al., the derivatives of Jacobian matrix are evaluated for all combinations of revolute and prismatic jo...More
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