Serial-Chain Kinematics

  • Abhinandan Jain


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.


Multibody System Inertial Frame Body Frame Jacobian Operator Spatial Operator 
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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  1. 1.Jet Propulsion LaboratoryPasadenaUSA

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