There is an extremely large body of literature dealing with the modelling and simulation of multibody systems, e.g. [1–7]. The importance of multi-body systems is also recognized in robotics where different approaches have been developed taking into account the control aspect as well [8, 9]. The modelling of multibody systems has attracted attention in bond graph theory, too. The models are based on field multiport elements and multibonds [10–12].
KeywordsMultibody System Revolute Joint Body Frame Multibody Dynamics Base Frame
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