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    The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia–Kalaba approach

    The closed-form motion equation of the redundant actuation parallel robot with joint friction is established by an extended application of the Udwadia–Kalaba modeling. Based on the cascading nature of the Udwa...

    Jizhuang Hui, Muxuan Pan, Ruiying Zhao, Li Luo, Linlin Wu in Nonlinear Dynamics (2018)