Recursive algorithm for simulation of single chain manipulator dynamics

A new recursive algorithm based on Kane equations matrix form for closed form dynamics equations calculation for simple kinematical chain is presented. It has computational cost proportional to the third degree of bodies number O(n³) and is used for motion simulation for manipulators with rotary joints. This algorithm allows to consider links flexibility by using finite elements as rigid bodies and to use parallel calculations. The proposed recursive algorithm has higher efficiency than the original Kane equations algorithm.