Computer-Aided Method for Closed-Form Dynamic Robot Model Construction

  • Miomir Vukobratović
  • Nenad Kirćanski
Part of the Communications and Control Engineering Series book series (CCE, volume 4)


A new method for modelling of robotic system will be presented in this chapter. In addition, some fundamental properties of dynamic model matrices will be proved.


Recursive Relation Kinematic Chain Positive Definiteness Inertial Matrix Gravity Vector 
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Copyright information

© Springer-Verlag, Berlin, Heidelberg 1985

Authors and Affiliations

  • Miomir Vukobratović
    • 1
  • Nenad Kirćanski
    • 2
  1. 1.Institute »Mihailo Pupin«Serbian Academy of Sciences and ArtsBeogradYugoslavia
  2. 2.Institute »Mihailo Pupin«BeogradYugoslavia

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