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Keywords: Hessian
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2007, 129(4): 390–396.
Published Online: April 11, 2006
.... For such an N -DoF ( N < 6 ) mechanism, this method can build a square ( N × N ) Jacobian matrix and cubic ( N × N × N ) Hessian matrix. The formulas in this method for different parallel mechanisms have unified forms and consequently the method is convenient for programming. The more complicated...