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Robotic Syst."],"published-print":{"date-parts":[[1987,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In 1983, the authors implemented the computer program Algebraic Robot Modeler (ARM) to generate<jats:italic>symbolically<\/jats:italic>complete closed\u2010form and recursive dynamic robot models.<jats:sup>1\u20134<\/jats:sup>Then, in 1985, we incorporated in ARM heuristic rules for the systematic organization of dynamic robot models to reduce the computational requirements of<jats:italic>customized<\/jats:italic>forward and inverse dynamics calculations. We compare the symbolic efficiencies of six robot dynamics formulations for generating closed\u2010form and recursive models. We find that our Lagrange\u2010Christoffel formulation is the most symbolically efficient generator of closed\u2010form dynamic robot models. In our companion paper,<jats:sup>3<\/jats:sup>we resolve the issue of numerical efficiency of customized closed\u2010form and recursive algorithms for computing the forward and inverse dynamics of kinematically and dynamically structured manipulators.<\/jats:p>","DOI":"10.1002\/rob.4620040604","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:21:00Z","timestamp":1183702860000},"page":"743-769","source":"Crossref","is-referenced-by-count":26,"title":["Symbolically efficient formulations for computational robot dynamics"],"prefix":"10.1002","volume":"4","author":[{"given":"Charles P.","family":"Neuman","sequence":"first","affiliation":[]},{"given":"John J.","family":"Murray","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J. J.Murray andC. 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