In this paper, we compare our recently developed modeling method for closed kinematic chains (CKC), namely the singular perturbation formulation (SPF), to the singularly perturbed sliding manifold (SPSM) method from the literature. We show the advantages and disadvantages of each method from a theoretical as well as a implementation standpoint. The comparison indicates that for model-based control of CKCs, our SPF approach naturally lends itself to control design, and for simulation, our SPF approach is computationally more efficient. A common drawback of both the SPF approach and the SPSM method is that they cannot handle singularities.

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