Model Reduction Under Motion Constraint

  • Ernesto Olguín DíazEmail author
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 191)


The most common analysis assumes that a motion restriction enforces some coordinates to remain at rest, with no displacement. This non-displacement assumption means a lack of work in the restricted direction, known as the virtual work principle, which can be stated as follows:
$$ \Delta W_j = \tau _j \delta q_j = 0 $$

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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Robotics and Advance Manufacturing GroupCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN)CoahuilaMexico

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