2008 | OriginalPaper | Buchkapitel
Closed Loop Systems
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This chapter covers the forward and inverse dynamics of rigid-body systems containing kinematic loops. The presence of kinematic loops brings a new level of complexity to the dynamics problem: new formulations are required; new problems arise; the systems exhibit new behaviours; and the inverse dynamics problem, in particular, changes its nature in the presence of kinematic loops. There are two main strategies for formulating the equations of motion for a closed-loop system: