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.


Torque Lution 


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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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