Book Chapter

Constrained Dynamics

Springer New York, (2007), 321-347
DOI: 10.1007/0-387-27274-7_14
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Constrained Dynamics. (2007). In Geometric Fundamentals of Robotics (pp. 321–347). Springer New York. https://doi.org/10.1007/0-387-27274-7_14

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