Abstract: Having investigated the
relation between coupling degree of quasi-velocity dynamic
equation and orthogonality of vector coefficients of
quasi-velocities, this paper presents the fundamental principles
and general approach as well as the simplified approach choosing
quasi-velocities for simplification of dynamic equation. Two
examples, and 8 d-o-f spacecraft and a 6 d-o-f robot, are given
to demonstrate the advantages of the approaches.
Key words:
Quasi-coordinate dynamic equation
Quasi-velocity Orthogonality of vector coefficient Coupling of
dynamic equation
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