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This paper presents two ways to obtain the dynamical equations of serial manipulators utilizing twin quaternion algebra. The initial a single relies on the recursive Newton-Euler formulation and employs twists and wrenches instead of 3D vectors, which simplifies the classic technique by eradicating the necessity of exhaustive geometrical analyses considering http://pilatesboulder61615.blogzag.com/21443434/5-easy-facts-about-what-is-functional-training-described

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