Propagation of static moments in robot manipulators

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

Created by Mathematica  (October 21, 2003)