Closed Chain Dynamics

  • Miomir Vukobratović
  • Veljko Potkonjak
Part of the Communications and Control Engineering Series book series (CCE, volume 6)


In Chapter 2 we derived an algorithm which solved the complete dynamics of manipulation robots. Let us note that the algorithm considered a manipulator as an open kinematic chain. This fact restricts the set of manipulation tasks which can be analyzed. Let us consider a peg-in-the--hole assembly task (Fig. 3.1). In such a task the manipulator changes its configuration.


Friction Force Open Chain Jacobian Form Manipulation Task Assembly Task 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag, Berlin, Heidelberg 1985

Authors and Affiliations

  • Miomir Vukobratović
    • 1
  • Veljko Potkonjak
    • 2
  1. 1.Institute »Mihailo Pupin«BelgradeYugoslavia
  2. 2.Electrical Engineering Faculty of Belgrade UniversityBelgradeYugoslavia

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