@inproceedings{b38396a161434348ad7dae1b3f060d76,
title = "Dynamic analysis of robotic manipulators with closed kinematic chains",
abstract = "The dynamic analysis of closed-chain robot manipulators using the vector-network method is presented. This technique arises from the application of fundamental theorems of dynamics along with the exploitation of principles from graph theory. From the orthogonality principle and from the vector network's constitutive equations, differential algebraic equations (DAEs) describing the dynamics of the manipulator with closed kinematic chains are derived. It is shown how the vector-network technique automatically generates the holonomic loop constraint equations. The system's response can then be obtained by any methods dedicated to DAE.",
author = "I. Bindzi and Richard, {M. J.} and Gosselin, {C. M.} and L. Cheng",
year = "1992",
month = jan,
day = "1",
doi = "10.1109/TENCON.1992.271893",
language = "English",
series = "IEEE Region 10 Annual International Conference, Proceedings/TENCON",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "639--643",
booktitle = "TENCON 1992 - Technology Enabling Tomorrow",
note = "1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992 ; Conference date: 11-11-1992 Through 13-11-1992",
}