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Serial-Chain Kinematics

  • Abhinandan Jain
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

Multibody System Inertial Frame Body Frame Jacobian Operator Spatial Operator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  1. 1.Jet Propulsion LaboratoryPasadenaUSA

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