Does SM uses Featherstone's algorithm?

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M.Sc. Leonardo Badillo Mata
M.Sc. Leonardo Badillo Mata 2020년 9월 28일
댓글: J Chen 2020년 10월 8일
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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J Chen
J Chen 2020년 10월 8일
편집: J Chen 2020년 10월 8일
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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