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Comments on "Computation of input generalized forces for robots with closed kinematic chain mechanism" [with reply]

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2 Author(s)
Lin, S.-K. ; Inst. of Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Luh, J.Y.S.

The commenter points out that two sets of equations in the above-titled paper by Luh et al. (see ibid., vol.RA-1, no.2, p.95-103, June (1985)) are confusing as they give different solutions for the second time-derivative of q/sup 0/. Luh points out that one of the equations does not include the constraints included in the other, as one is for an open-chain and the other for a closed-chain mechanism.<>

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Robotics and Automation, IEEE Transactions on  (Volume:6 ,  Issue: 2 )