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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Bibliographic Details

Published in:	Mechanism and machine theory Vol. 142; p. 103589
Main Authors:	Safeea, Mohammad, Neto, Pedro, Bearee, Richard
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.12.2019 Elsevier
Subjects:	Christoffel symbols Dynamicss Engineering Sciences Recursive algorithms Recursive algorithms Christoffel symbols Dynamicss Bioengineering Mechanics of Materials
ISSN:	0094-114X, 1873-3999
Online Access:	Get full text
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