Abstract
This chapter develops kinematics models for serial-chain rigid multibody systems. Although serial-chains are perhaps the simplest examples of multibody systems, many of the concepts and techniques developed for these systems apply, with only modest extensions, to general multibody systems.
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). Serial-Chain Kinematics. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_3
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_3
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Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4419-7266-8
Online ISBN: 978-1-4419-7267-5
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