| contributor author | Cohen, Avraham | |
| contributor author | Shoham, Moshe | |
| date accessioned | 2017-05-09T01:31:12Z | |
| date available | 2017-05-09T01:31:12Z | |
| date issued | 2016 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_008_01_011015.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161855 | |
| description abstract | Hyperdual numbers (HDNs) are applied in this paper to multibody kinematics. First, the hyperdual angle that encompasses a body's position, orientation, as well as its velocity, is defined as an element of the hyperdual transformation matrix. Then, the “automatic differentiation†feature of the dual numbers is used to obtain the second derivative of a body pose. The body's velocity and acceleration are obtained from the elements of the hyperdual transformation matrix by algebraic manipulations only, with no need for further time derivatives of the body pose. A robot manipulator is presented as an exemplary application of HDNs to multibody kinematics. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Application of Hyper Dual Numbers to Multibody Kinematics | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4030588 | |
| journal fristpage | 11015 | |
| journal lastpage | 11015 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 001 | |
| contenttype | Fulltext | |