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Mass Matrix Inversion and AB Forward Dynamics

  • Abhinandan Jain
Chapter

Abstract

This chapter introduces articulated body models for the component links in a serial-chain system. This model is an alternative to the terminal and composite body models discussed earlier. While the composite body model is appropriate for the inverse dynamics problem, the articulated body model is better suited for the for- ward dynamics problem.

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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  1. 1.Jet Propulsion LaboratoryPasadenaUSA

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