Does SM uses Featherstone's algorithm?

Hello I was wondering if you could tell us about how SM gets the ecuation of motion and how SM solve it in order to obtain the forward dynamic (get aceleration and also velocity) and the inverse dynamic (get forces and torque).

Answer 1

[J Chen]

Simscape solver is not well documented. The attached paper offers some clues. Simscape uses physical (or object oriented) modeling approach. The approach is also used by Modelica, which has more published papers.

[J Chen]

Another source of information https://uu.diva-portal.org/smash/get/diva2:411595/FULLTEXT01.pdf (starting from page 17)