Efficient multi-arm closed chain dynamics computation for visualisation

In an order to remove the disadvantages of classical formulations for geometric and dynamic models (especially for closed chain systems), a simple and efficient parametrization is developed. This parametrization is well adapted to virtual reality visualisation (geometric applications), because of the linearity of the geometric model. The method allows the calculation of the configuration of the links without having to generate complicated geometrical models using homogeneous transformations. A simulation on a five link planar closed system has been efficiently carried out. Further extensions of the work are described