Modeling of Robotic System in a Linear Form

Creates and reduces the dynamic model of a robotic system represented in a form linear in the inertial parameters.

This code can create the model of a robotic system with revolute and prismatic joints. Provided the modified Denavit-Hartenberg parameters, the Newton-Euler approach is taken to generate the model of the system in a form that is linear in the inertial parameters. This linear-form model can then be reduced to a simplified, smaller form. A number of examples are provided.