Titlebook: Computational Kinematics; Jorge Angeles,Günter Hommel,Peter Kovács Book 1993 Springer Science+Business Media Dordrecht 1993 Rigid body.alg

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A Mixed Numeric and Symbolic Approach to Redundant Manipulatorsns for the inverse kinematic problem of nonredundant subchains and a numeric approach solving the local optimizing problem. The result is an efficient method for low degree of redundancy and complex optimizing tasks.

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Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulatorslators. The validity of these methods is questioned from the viewpoint of the computational efficiency specified in terms of arithmetic operations per iteration step. Even though the pseudo-inverse-based methods provide better convergence, less computation time is needed by steepest descent methods

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Feedforward Torque Computations with the Aid of Maple Vre derived. The derived kinematic representations include the inverse kinematics, the Jacobian and its time-derivative, which are needed to convert a task space trajectory to the joint level. Two Newton-Euler based recursive multibody dynamics algorithms are also programmed symbolically; one for the