Recursive Dynamic Equations For Two Robot Arms In A Closed Chain

Paper discusses use of difference equations from Kalman filtering and Bryson-Frazier smoothing to solve equations of forward dynamics of closed chain of robot-arm links. "Forward dynamics" is computation of linear and angular accelerations of joints between links, given set of applied or prescribed joint torques. Paper lays foundation for potential use of filtering and smoothing techniques in dynamics of robots and in design of controls for robots.