# Forward Dynamics, Elimination Methods, and Formulation Stiffness in Robot Simulation

```@article{Ascher1997ForwardDE,
title={Forward Dynamics, Elimination Methods, and Formulation Stiffness in Robot Simulation},
author={Uri M. Ascher and Dinesh K. Pai and Benoit P. Cloutier},
journal={I. J. Robotics Res.},
year={1997},
volume={16},
pages={749-758}
}```
The numerical simulation problem of tree-structured multibody systems, such as robot manipulators, is usually treated as two separate problems: (i) the forward dynamics problem for computing system accelerations, and (ii) the numerical integration problem for advancing the state in time. The interaction of these two problems can be important and has led to new conclusions about the overall e ciency of multibody simulation algorithms (Cloutier et al., 1995). In particular, the fastest forward… CONTINUE READING

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