Search for: [Abstract = "In this paper, a decomposed expression for the kinematics of a free\-floating robot with rotational joints is derived in detail. Some mathematical conditions on invertibility of a matrix used in a definition of the generalized Jacobian matrix are derived and proved for a general robot and for a planar robot \(an n\-pendulum\). For the n\-pendulum, closed\-form kinematics are given. A comparison of the resulting kinematic equations for the simplest free\-floating robot \(a planar 2\-pendulum\), with the simplest mobile robot \(a unicycle\) is presented. Being an extended version of \(Dulęba, 1996\), this paper offers a family of models of nonholonomic systems."]

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