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Adapting Rigid-Body Dynamics Derivatives for Constraint Embedding Closed-Chain Models

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

This paper extends an existing algorithm for the first-order derivatives of rigid-body dynamics to the case of closed-chain kinematic systems modeled using constraint embed- ding. Many standard dynamics algorithms apply to both open- chain and constraint-embedded models, but existing efficient derivative methods assume joint velocity effects are locally config- uration invariant. We remove this assumption and derive adapted algorithms that extend dynamics derivatives to more general joint types, including those arising in constraint-embedded closed- chain models. Our results compare convention

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