Variable extraction and creation routines (from DH parameters)

ExtractVariables[dh_] := <br />    Module[{vars}, <br />    ... nbsp;    Take[vars, #] & /@ Position[NumberQ /@ vars, False] // Flatten] ;

ExtractFirstDerivatives[dh_] := <br />    Module[{vars}, <br />   ... actVariables[dh] ; <br />        Dt[#, t] & /@ vars] ;

MakeVelocityVariables[dh_] := <br />    Module[{lvars}, <br />   ... sp;    Table[ToExpression["V"<>ToString[i]], {i, 1, lvars}]] ;

Created by Mathematica  (October 21, 2003)