Choice of Independent Coordinates in Modular Kinematics

Modular kinematics is considered by several authors a valuable tool in robot simulation. The paper describes how to verify if a given set of kinematic variables that allow a modular solution of the constraint equations of a robot can form a set of independent coordinates to be used in dynamic analysis. Then, some strategies to select a topologically valid set are provided. The proposed method is applied to a planar robot example.

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