switching to robotic chain representation has its advantages. For example, some systems such as a 1-d sliding mechanism (like the fork) is more intuitively represented that way. In addition, it is more likely that we can get a good initial guess for solving a complex system, since the calculation for the non-cyclic part of the graph can be calculated explicitly.
switching to robotic chain representation has its advantages. For example, some systems such as a 1-d sliding mechanism (like the fork) is more intuitively represented that way. In addition, it is more likely that we can get a good initial guess for solving a complex system, since the calculation for the non-cyclic part of the graph can be calculated explicitly.
Some good reference can be found here: https://homes.cs.washington.edu/~todorov/courses/amath533/FeatherstoneOrin00.pdf