Does SM uses Featherstone's algorithm?

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M.Sc. Leonardo Badillo Mata
Commented: J Chen on 8 Oct 2020
Hello I was wondering if you could tell us about how SM gets the ecuation of motion and how SM solve it in order to obtain the forward dynamic (get aceleration and also velocity) and the inverse dynamic (get forces and torque).

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Answers (1)

J Chen
J Chen on 8 Oct 2020
Edited: J Chen on 8 Oct 2020
Simscape solver is not well documented. The attached paper offers some clues. Simscape uses physical (or object oriented) modeling approach. The approach is also used by Modelica, which has more published papers.

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