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Keywords: Udwadia-Kalaba equation
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Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2013, 135(6): 061003.
Paper No: DS-11-1070
Published Online: August 23, 2013
... ) + M 1 2 ( q , t ) B + ( q , t ) ( b ( q · , q , t ) - A ( q , t ) M - 1 ( q , t ) Q ( q · , q , t ) ) Equation (4.6) is called the Udwadia-Kalaba equation. Comparing with Eq. (4.3) , the constraint force is given...
