├── LICENSE ├── README.md ├── dynamics_functions ├── centrifugal_coriolis.m ├── factorization.m ├── inertia_diff.m ├── inertia_matrix.m ├── kinetic_energy.m ├── matrix_diff.m ├── moving_frame.m ├── moving_frame_algo.m ├── moving_frame_algo_v2.m ├── moving_frame_algo_v3.m ├── parametrization.m ├── potential_energy.m └── print_dynamics.m └── robots ├── PPR_planar ├── PPR_planar.m └── PPR_robot.PNG ├── PP_planar ├── PP_planar.m └── PP_planar_robot.PNG ├── PRP_planar ├── PRP_planar1 │ ├── PRP_planar.m │ └── PRP_planar_robot.PNG └── PRP_planar2 │ ├── PRP_planar.m │ └── PRP_planar_robot.PNG ├── PRRR_planar ├── PRRR_planar.m └── PRRR_planar_robot.PNG ├── PR_planar ├── PR_planar.m └── PR_planar_robot.PNG ├── RPR_planar ├── RPR_planar.m └── RPR_planar_robot.PNG ├── RP_planar ├── RP_planar_1 │ ├── RP_planar_1.m │ └── RP_planar_robot.PNG └── RP_planar_2 │ ├── RP_planar_2.m │ └── RP_planar_robot.PNG ├── RRPR_planar ├── RRPR.JPG └── RRPR_planar.m ├── RRRR_planar └── RRRR_planar.m ├── RRR_planar ├── 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