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Flexible robot models with revolute and prismatic joints — Handling of closed loops

✍ Scribed by Michael Riemer; Jörg Wauer


Publisher
Elsevier Science
Year
1988
Tongue
English
Weight
284 KB
Volume
15
Category
Article
ISSN
0093-6413

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A general approach to systematically derive the equations of motion of flexible open-kinematic chains is presented in this paper. The methodology exploits the serial characteristic of the kinematic chain by complementing the 4 × 4 Denavit-Hartenberg transformation matrix with a 4 × 4 structural flex