fpenunuri/HigherOrderKinematic: Version 1.0 – Code for: Higher order kinematic formulas and its numerical computation employing dual numbers
Year: 2026
Type: software
Abstract: Higher-order kinematic formulas and their numerical computation employing dual numbers This repository contains the source code used to illustrate the numerical computation of higher-order kinematic quantities using dual numbers. Contents: RC_robot.f90 Implements the example described in Section 4.1. Spherical4R.f90 Implements the example presented in Section 4.2. example1.f90 Corresponds to the example included in Appendix A. example2.f90 Additional example not included in the manuscript. Demonstrates a case where the position vector depends explicitly on time. Reproducibility: The examples can be compiled and executed using a standard Fortran compiler. For instance: gfortran RC_robot.f90 -o rc_robot && ./rc_robot Each file is self-contained and reproduces the corresponding results discussed in the manuscript. Notes: This release corresponds to a reproducible snapshot of the code used in the associated manuscript. License: MIT License
Author: F. Peñuñuri
Institution: Autonomous University of Yucatán
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7158797200