Machado, J. A. TenreiroCarvalho, J. L. Martins deMatos, J. A. SilvaCosta, António M. C.2016-12-141989978-0-387-97093-6978-1-4613-8936-1http://hdl.handle.net/10400.22/8801In the last decade, robot dynanic conputational algorithm have been steadily improved. Lagrangian [1] and Newton-Euler [2,3] recursive nunerical algorithns, Horak’s mixed calculation [4], Lisp based symbolic derivation of the robot closed forn equations [5,6] and recently, costumized conputing algorithns [7–9] have been important stages towards nore efficient procedures, Nevertheless, the still existing high computational loads, have prevented the industrial application of such algorithns.engSimulation and ModelingComplexityComputer-Aided Engineering and DesignCADCAEbook10.1007/978-1-4613-8936-1_32