𝔖 Bobbio Scriptorium
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New model for the function and kinematics of joints

✍ Scribed by Martin, H.; Packi, W.


Book ID
108333834
Publisher
Elsevier Science
Year
2006
Tongue
English
Weight
155 KB
Volume
39
Category
Article
ISSN
0021-9290

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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 Γ— 4 Denavit-Hartenberg transformation matrix with a 4 Γ— 4 structural flex

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