• Robert E. Roberson
  • Richard Schwertassek


To provide the modeling options for both kinematic and dynamic reference frames, the location of any body must be described with respect to points O o or CM + respectively.


Torque Eosine Summing 


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  1. 1.
    Hartenberg, R.S., Denavit, J., Kinematic Synthesis of Linkages, McGraw-Hill, NY, 1964.Google Scholar
  2. 2.
    Gear, C.W., “Differential-Algebraic Equations”, NATO Advanced Study Institute on Computer Aided Analysis and Optimization of Mechanical System Dynamics, E.J. Haug (ed.), Springer, Berlin, 1984, pp.323–334.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1988

Authors and Affiliations

  • Robert E. Roberson
    • 1
  • Richard Schwertassek
    • 2
  1. 1.Dept. of Applied Mechanics and Engineering SciencesUniversity of California, San DiegoLa JollaUSA
  2. 2.Institut für Dynamik der FlugsystemeDeutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt (DFVLR)WeßlingGermany

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