Szukana fraza: [Abstract = "Lagrangian robot dynamics derived by making use of the generalized and quasi\-coordinates is discussed. A comparison between two sets of equations is presented, which is motivated by recently developed \(Jain and Rodriguez, 1994\) diagonalized equations of motion for multibody open kinematic chains with N degrees of freedom. These equations are derived by making use of new joint velocity variables vi which can be viewed as time derivatives of the Lagrangian 'quasi\-coordinates, similar to those in classical mechanics."]

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