Propagation of static forces in robot manipulators

fs[dh_, i_, i_, fend_: {fx, fy, 0}] := <br />    If[i == Length[dh], fend, ... />        R[dh, i, i + 1] . fs[dh, i + 1, i + 1, fend]] ;

Created by Mathematica  (October 21, 2003)