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This could be important in a macro\/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro\/micro robotic system are presented and the contribution of the base platform motion to the total actuating forces is shown.<\/jats:p>","DOI":"10.1017\/s0263574709990506","type":"journal-article","created":{"date-parts":[[2009,9,21]],"date-time":"2009-09-21T08:52:28Z","timestamp":1253523148000},"page":"781-793","source":"Crossref","is-referenced-by-count":7,"title":["Complete dynamic modelling of a moving base 6-dof parallel manipulator"],"prefix":"10.1017","volume":"28","author":[{"given":"Ant\u00f3nio M.","family":"Lopes","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,9,21]]},"reference":[{"key":"S0263574709990506_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-008-9131-5"},{"key":"S0263574709990506_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2008.05.013"},{"key":"S0263574709990506_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919378"},{"key":"S0263574709990506_ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041322"},{"key":"S0263574709990506_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2006.09.001"},{"key":"S0263574709990506_ref2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620050304"},{"key":"S0263574709990506_ref32","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-82195-0"},{"key":"S0263574709990506_ref31","first-page":"243","volume-title":"Proceedings of the 2nd Portuguese Conference on Automatic Control","author":"Lopes","year":"1996"},{"key":"S0263574709990506_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.840906"},{"key":"S0263574709990506_ref7","doi-asserted-by":"crossref","first-page":"817","DOI":"10.1007\/s00419-002-0262-5","article-title":"Modelling and online computation of the dynamics of a parallel kinematic with six degrees-of-freedom","volume":"72","author":"Riebe","year":"2003","journal-title":"Arch. 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