Dynamics & Modeling

Rigid-body dynamics algorithms for robotics and mechanical systems.

Algorithms

Algorithm	Description
Articulated Body Algorithm	$O(n)$ forward dynamics for serial chains — computes joint accelerations from applied torques
Euler-Lagrange	Forward and inverse dynamics via the Lagrangian formulation $M\ddot{q} + C\dot{q} + g = \tau$
Newton-Euler	Single rigid-body forward and inverse dynamics using Newton's and Euler's equations
Recursive Newton-Euler	$O(n)$ inverse dynamics for serial kinematic chains via recursive velocity/force propagation