Spatial vectors -- Single rigid body dynamics -- Differential kinematics for a serial-chain system -- The mass matrix -- Equations of motion for a serial chain system -- Articulated body models for serial chains -- Operator factorization and inversion of the mass matrix -- Forward dynamics -- Tree topology systems -- The operational space inertia -- Closed chain system dynamics -- Multi-arm manipulators -- Systems with hinge flexibility -- Systems with link flexibility -- Under-actuated systems -- Free-flying space manipulators -- Mass matrix sensitives -- Linearized dynamics models -- Sensitivity of innovations factors -- Diagnolized lagrangian dynamics -- Overview of optimal linear estimation theory.

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: -Treats algorithms for simulation, including an analysis of complexity of the algorithms -Describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems -Covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.