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TECHNICAL PAPERS

A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains

[+] Author and Article Information
Garett A. Sohl, James E. Bobrow

Department of Mechanical Engineering, University of California, Irvine Irvine, CA 92697

J. Dyn. Sys., Meas., Control 123(3), 391-399 (Jul 10, 2000) (9 pages) doi:10.1115/1.1376121 History: Received July 10, 2000
Copyright © 2001 by ASME
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References

Figures

Grahic Jump Location
Initial path for planar 2R problem
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Final path for planar 2R problem
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Initial path for Acrobot swing-up motion
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Optimal swing up motion with q1(0)=−1.0
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Optimal swing up motion with q1(0)=−1.3
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Initial path for branched Acrobot swing-up problem
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Locally optimal swing-up for branched Acrobot
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Locally optimal swing-up for branched Acrobot with different initial condition

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