Equations of motion for an N-link planar system for simulation and optimization

A simple and compact representation of the equations of motion for a planar multi-link system are derived and presented. Their form allows for rapid implementation of the equations in the computer for use in simulation. Their recursive nature also allows for the code to be used in trade-off studies or optimizations without re-coding the equations. Versions of the formulation, both with and without base motion, are presented, A sample optimization problem involving the clearance required by a deploying satellite solar panel is shown.