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Corrections to “Singularity-Free Dynamic Equations of Open-Chain Mechanisms With General Holonomic and Nonholonomic Joints”

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3 Author(s)
Pål Johan From ; Dept. of Math. Sci. & Technol., Norwegian Univ. of Life Sci., As, Norway ; Vincent Duindam ; Stefano Stramigioli

This is a correction to [Duindam and Stramigioli, “Singularity-free dynamic equations of open-chain mechanisms with general holonomic and nonholonomic joints,” IEEE Trans. Robot., vol. 24, no. 3, pp. 527-526, Jun. 2008] where the singularity-free dynamic equations of mechanical systems with Euclidean or non-Euclidean configuration spaces are presented. We present the correct explicit expressions of the equations presented in the above referenced paper.

Published in:

IEEE Transactions on Robotics  (Volume:28 ,  Issue: 6 )