Abstract
The aim of this article is to propose a new concept of the kinematics chain description of head positioning servomechanism and, subsequently, its mathematical modeling allowing for simultaneously reading data on multiple sides of magnetic disks. The Denavit–Hartenberg notation and Lagrange equations will be formulated and expressed by using the block matrix notation. Also, a new method of inversion of the generalized inertial matrix (in block form) will be shown.
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