Titlebook: Dynamic Analysis of Robot Manipulators; A Cartesian Tensor A C. A. Balafoutis,R. V. Patel Book 1991 Springer Science+Business Media New Yor

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Jürgen Blazejczak,Wolfgang Kirnery system determines the kind of mathematical analysis that will be used in deriving these equations. In the classical Newtonian formulation of rigid body dynamics, vectors are usually used [1-5] to represent basic physical quantities and therefore vector analysis is used for deriving the equations o

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Jürgen Blazejczak,Wolfgang Kirnerthe actuator torques/forces and any external torques/forces exerted on the last link of the manipulator. Forward dynamics computation is used primarily in simulation, so that, it is not so important for this computation to meet the stringent speed requirements of inverse dynamics applications unless

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