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This paper introduced a three degree-of-freedom planar parallel mechanism which is composed of three branches. In order to give directions for the following engineering design of the mechanism, the inverse kinematics and forward kinematics of this parallel mechanism are analyzed, which shows that analytical equations for the inverse and forward kinematics of the novel parallel mechanism can be obtained...
This paper describes a procedure for obtaining the dynamical model of a space robot in a form that is useful for simulation. The differential equations of motion of the space robot are derived using a constrained Lagrangian approach to mechanics. Quaternions are utilized to model rotation which gives rise to generalized forces that are in the direction of the quaternion elements. A transformation...
We show how a control system on a smooth manifold can be embedded into a Euclidean space, and discuss merits of such embeddings in mechanics, optimal control and geometric control.
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