Dynamic modeling of soft continuum manipulators using lie group variational integration
نویسندگان
چکیده
منابع مشابه
Lie Group Spectral Variational Integrators
Abstract. We present a new class of high-order variational integrators on Lie groups. We show that these integrators are symplectic, momentum preserving, and can be constructed to be of arbitrarily high-order, or can be made to converge geometrically. Furthermore, these methods are stable and accurate for very large time steps. We demonstrate the construction of one such variational integrator ...
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ژورنال
عنوان ژورنال: PLOS ONE
سال: 2020
ISSN: 1932-6203
DOI: 10.1371/journal.pone.0236121