Serial-Chain Kinematics

Chapter

Abstract

This chapter develops kinematics models for serial-chain rigid multibody systems. Although serial-chains are perhaps the simplest examples of multibody systems, many of the concepts and techniques developed for these systems apply, with only modest extensions, to general multibody systems.

Keywords

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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  1. 1.Jet Propulsion LaboratoryPasadenaUSA

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