Abstract
The evaluation of loop constraints is presented for dynamic modeling of general closed-chain systems in terms of a minimum coordinate set. These procedures are based on higher order kinematic relationships between hypothetically open chain reference coordinates(system Lagrangian coordinates) and a set of independent closed-chain coordinates(system generalized coordinates). Three different approaches for determining/ evaluating loop constraints, both numerically and symbolically, are investigated and discussed with respect to their relative computational merits.
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© 1991 Springer-Verlag Wien
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Kang, H.J., Freeman, R.A. (1991). Evaluation of Loop Constraints of General Closed-Chain Linkages. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_16
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DOI: https://doi.org/10.1007/978-3-7091-4433-6_16
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
Online ISBN: 978-3-7091-4433-6
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