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 …

Industrial robots have been widely used in modern manufacturing with the benefit of their
flexibility, cost efficiency, and multi-functionality. However, when the industrial robot is …

Series elastic actuators (SEAs) can provide accurate force control and backdrivability in
physical human-robot interaction. Control of SEA-generated forces or torques makes …

This work deals with the existence and uniqueness of the acceleration and contact forces for
Lagrangian systems subject to bilateral and/or unilateral constraints with or without sliding …

It is known that the dynamic equations of motion for constrained mechanical multibody
systems are frequently formulated using the Newton–Euler's approach, which is augmented …

This work describes in detail the theoretical basis of the fully Cartesian coordinates
formulation with a generic rigid body and evaluates its performance in the dynamic analysis …

Abstract The Moore–Penrose inverse celebrated its 100th birthday in 2020, as the notion
standing behind the term was first defined by Eliakim Hastings Moore in 1920 (Bull Am Math …

The purpose of this paper was to present the key features of a novel coordinate formulation
for the analytical description of the motion of rigid multibody systems, namely the natural …

Both time-and frequency-domain solution techniques are developed for determining the
response of linear multi-degree-of-freedom systems exhibiting singular parameter matrices …

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