Dynamical formulations and control of an automatic retargeting system
The Poincare equations, also known as Lagrange's equations in quasi coordinates, are revisited with special attention focused on a diagonal form. The diagonal form stems from a special choice of quasi velocities that were first introduced by Georg Hamel nearly a century ago. The form has been l...
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| Format: | Others |
| Language: | en_US |
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Texas A&M University
2007
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| Online Access: | http://hdl.handle.net/1969.1/4836 |