Abstract
This chapter introduces articulated body models for the component links in a serial-chain system. This model is an alternative to the terminal and composite body models discussed earlier. While the composite body model is appropriate for the inverse dynamics problem, the articulated body model is better suited for the for- ward dynamics problem.
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). Mass Matrix Inversion and AB Forward Dynamics. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_7
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_7
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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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