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Recursive Robot Dynamics


Prof. Subir Saha < subir@cim.mcgill.ca >
Indian Institute of Technology
New Delhi India

June 12, 2002 at  11:30 AM
437

Recursive robot dynamics algorithms, namely, inverse and forward dynamics, will be presented for both serial and parallel architectures. These algorithms not only provide efficiency for large systems but also entail direct physical interpretations, which can be utilized for the architecture selection of robots.