There are many achievements in the field of analytical mechanics, such as Lagrange
Equation, Hamilton's Principle, Kane's Equation. Compared to Newton–Euler mechanics …

Based on recent results from analytical dynamics, this paper develops a class of tracking
controllers for controlling general, nonlinear, structural and mechanical systems. Unlike most …

We present the new, general, explicit form of the equations of motion for constrained
mechanical systems applicable to systems with singular mass matrices. The systems may …

In this paper, we present the general structure for the explicit equations of motion for general
mechanical systems subjected to holonomic and non-holonomic equality constraints. The …

This paper presents the general form of the explicit equations of motion for mechanical
systems. The systems may have holonomic and/or nonholonomic constraints, and the …

A systematic dynamic modeling methodology is presented to develop the rigid-flexible
coupling dynamic model (RFDM) of an emerging flexible parallel manipulator with multiple …

Udwadia–Kalaba approach which presents a new, general and explicit equation of motion
for constrained mechanical systems with holonomic or nonholonomic constraints is applied …

随着劳动力紧缺及人力成本的不断升高, 需要使用机器人的领域越来越多, 数量也越来越大.
就许多应用场景而言, 任务复杂多变, 应用环境和条件限制也各有不同, 单臂协作机器人已不能 …

The active roll control system (ARCS) can impose anti-roll moment quickly to prevent the
vehicle rolling when the vehicle generates the roll tendency and effectively enhance the …

In the last decades, several different formalisms have been proposed in the literature in
order to simulate the dynamics of multibody systems. First, the choice of the coordinates …