Manipulator forward dynamics
QDD = accel(R, Q, QD, TORQUE) QDD = accel(R,X)
QDD = accel(R, Q, QD, TORQUE) is a vector (Nx1) of joint accelerations that result
from applying the actuator force/torque to the manipulator robot in state Q and QD.
If Q, QD, TORQUE are matrices (KxN) then QDD is a matrix (KxN) where each row
is the acceleration corresponding to the equivalent rows of Q, QD, TORQUE.
QDD = accel(R, X) as above but X=[Q,QD,TORQUE]
Uses the method 1 of Walker and Orin to compute the forward dynamics.
This form is useful for simulation of manipulator dynamics, in conjunction with a numerical integration function.
[1] Efficient dynamic computer simulation of robotic mechanisms, M. W. Walker and D. E. Orin,
[2] ASME Journa of Dynamic Systems, Measurement and Control, vol. 104, no. 3, pp. 205-211, 1982.