Robot Dynamics: Equations and Algorithms

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static equilibrium and a composite rigid body in mo-tion at the outer end of the chain. Because of the need to solve a linear system of equations whose size grows with N, the algorithm was O(N3). For small N, the rst-order terms dominated the computation so that the result was quite e cient. The earliest known O(N) algorithm for forward dy-

  Dynamics, Equations, Rigid, Body, Robot, Algorithm, Rigid body, Robot dynamics, Equations and algorithms