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Recursive lnverse dynamics Outward Recursions - Kinematics Computation Computational complexity for angular velocity and acceleration Coordinate Transformation [rl+1=Qrl cos e sin a 01 71c06+72sin6 [r]+1=-A@i A cos e: Air2 uisin ]i -Hi cos 0i Ai Lr3 4r+入3 h三c0ap≡aina 7三T1sin-72co6 The extra term in wi computation ei [wi-1 x0 eli 6 Also [ojei] 000Recursive Inverse Dynamics • Outward Recursions - Kinematics Computation Computational complexity for angular velocity and acceleration Coordinate Transformation The extra term in computation: Also
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