Recursive Lagrangian dynamics of flexible manipulator arms via transformation matrices Wayne J. Book 10.1184/R1/6560633.v1 https://kilthub.cmu.edu/articles/journal_contribution/Recursive_Lagrangian_dynamics_of_flexible_manipulator_arms_via_transformation_matrices/6560633 Robotics Institute 1983-01-01 00:00:00 Lagrangian functions. Manipulators (Mechanism) Transformations (Mathematics) Matrices.