... ¯ l ′ ≔ Lie ( Y 1 ′ , … , Y l ′ ) . This sum is, however, not a Lie algebra in general, i.e., not closed with respect to Lie brackets, and thus not invariant when transformed with Ad C k − 1 in Eq. 6 to the RFR of body k . Moreover, by noting...

... 2011 28 04 2011 Lie algebras mechanical engineering optimisation parameter estimation Lie series solution multibody system parameter estimation parameter identification symbolic computation In recent years, due to the advancement of computational capabilities...