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This study presents a novel dynamic modelling of a rigid serial manipulator using a compact formula of inertia tensor. The matrix transformation is used appropriately as a powerful tool for this purpose. The proposed approach is simpler with fewer calculations in comparing with conventional approach which requires additional calculations in the center of mass frames.
This study presents a novel dynamic modelling of a rigid serial manipulator using a compact formula of inertia tensor. The matrix transformation is used appropriately as a powerful tool for …