Improved Formulations for Real-Time Dynamics

The general purpose dynamic formulations described in Chapter 5 are simple and efficient, but they are not suitable for real time dynamic simulation. Real time performance requires faster formulations. These can be developed by taking into account the system’s kinematic configuration or topology. In the last two decades, a big effort has been dedicated to developing very efficient dynamic formulations for serial robots or manipulators. These formulations have been extended later on to general open and closed chain configurations.

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