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Dynamics of a Three Degree of Freedom Kinematic Chain

Abstract : In order to be able to design a control system for high-speed control of mechanical manipulators, it is necessary to understand properly their dynamics. An analysis is presented here of a detailed model of a three-link device which may be viewed as either a leg in a locomotory system, or the first three degrees of freedom of an arm providing for its gross motions. The equations of motion are shown to be non-trivial, yet manageable.