Abstract
We now study the dynamics of serial-chain multibody systems and derive their equations of motion. The approach builds upon the single rigid body dynamics and serial-chain kinematics developments in Chaps. 2 and 3. The component link-level equations of motion are assembled into compact system-level operator versions of the equations of motion using the serial-chain mass matrix. Algorithms for the system inverse dynamics are also discussed.
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). Serial-Chain Dynamics. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_5
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_5
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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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