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Mechanisms and Machine Science
Higher-order derivatives of kinematic mappings give insight into the motion characteristics of complex mechanisms. Screw theory and its associated Lie group theory have been used to find these derivatives of loop closure equations up to an arbitrary order. However this has not been extended to the higher-order derivatives of finite motion as given by the inverse or forward kinematic model of closed loop mechanisms. In this paper, a recursive algorithm is presented, consisting solely of matrixdoi:10.1007/978-3-319-60867-9_66 fatcat:vipaaiymrjgp7gn7unwarmmw5e