Abstract
In this paper, the traditional generalized d'Alembert equations of motion (G-D) in the field of robot dynamics are extended to the circumstances as follows:
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1.
Considering the robots not only with rotary joints but also with translational joints.
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2.
Extending the application range of the G-D dynamic equations from the simple chained robots to the tree-structured robots.
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Communicated by Wu Ruifeng
Foundation item: the National Natural Science Foundation of China (19702006)
Biography: Zhang Dingguo (1967-)
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Dingguo, Z. The addendum for the generalized d'Alembert equations of motion. Appl Math Mech 21, 73–78 (2000). https://doi.org/10.1007/BF02458542
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DOI: https://doi.org/10.1007/BF02458542