Efficient Dynamic Simulation of a Single Closed Chain

Single chain robot manipulators are found in many different environments today. In industry, individual manipulators are used for welding, painting and some assembly operations. Their use in metal forging and machining continues as well. Robot manipulators also play an important part in current space exploration efforts and in future plans for space station operation. In many of these applications, the tip of the manipulator comes in contact with various objects in its environment, instantaneously creating a closed-chain configuration.