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Keywords: Udwadia-Kalaba equation
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Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2013, 135(6): 061003.
Paper No: DS-11-1070
Published Online: August 23, 2013
... manipulator system into several leg-subsystems and the platform subsystem, which are connected by kinematic constraints. The Udwadia-Kalaba equation is then used to calculate the constraint forces due to the constraints. Based on this, the equation of motion, which is an explicit (i.e., closed) form, can...