Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics

03/01/2022

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by   Shubham Singh, et al.

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This document provides full details of second-order partial derivatives of rigid-body inverse dynamics. Several properties and identities using an extension of Spatial Vector Algebra for tensorial use are listed, along with their detailed derivations. Using those, the expressions for second-order derivatives are derived step-by-step in detail. The expressions build upon previous work by the authors on first-order partial derivatives of inverse dynamics.