Abstract
In Fig. 11.1 a general spatial tree-structured system is shown. Its bodies i = 0, …, n and its joints i = 1, …, n are regularly labeled. By this is meant that joint i (i = 1, …, n) connects body n to a body b(i) < i. Example: In Fig. 11.1 b(5) = 3 and b(1) = 0. Regular labeling is always possible and, in general, in more than one way. The simplest tree-structure is a serial chain (a system without side branches). In a serial chain joint i (i = 1, …, n) connects body i to body b(i) = i – 1.
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© 2016 Springer-Verlag Berlin Heidelberg
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Wittenburg, J. (2016). Direct Kinematics of Tree-Structured Systems. In: Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48487-6_11
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DOI: https://doi.org/10.1007/978-3-662-48487-6_11
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