Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols

•Christoffel symbols of the first kind are calculated recursively.•Calculations based on inertial parameters and transformations matrices.•Execution time and numerical error as performance indicators.•Compares favourably with existing methods.•MATLAB running code is available. Christoffel symbols of...

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Vydané v:	Mechanism and machine theory Ročník 142; s. 103589
Hlavní autori:	Safeea, Mohammad, Neto, Pedro, Bearee, Richard
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Elsevier Ltd 01.12.2019 Elsevier
Predmet:	Christoffel symbols Dynamicss Engineering Sciences Recursive algorithms Recursive algorithms Christoffel symbols Dynamicss Bioengineering Mechanics of Materials
ISSN:	0094-114X, 1873-3999
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