A new spatial-representation variant of the second-order inverse dynamics O(n)-recursion for serial manipulators is derived and demonstrated on the Panda robot, complementing existing body-fixed and hybrid versions.
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An $O(n$)-Algorithm for the Higher-Order Kinematics and Inverse Dynamics of Serial Manipulators using Spatial Representation of Twists
A new spatial-representation variant of the second-order inverse dynamics O(n)-recursion for serial manipulators is derived and demonstrated on the Panda robot, complementing existing body-fixed and hybrid versions.