Abstract
For canonical serial-chain systems, spatial operator techniques have been used to establish important analytical results, such as decompositions and factorizations of the mass matrix, and an operator expression for its inverse. This analytical ground- work led to low-order computational algorithms, such as for inverse dynamics, forward dynamics, and for computing the mass matrix
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). SKO Models. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_9
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_9
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