The overall N-E Algorithm: Step 1: set T 0 0 = I ; f n+1 = -f tool ; n n+1 = -n tool ; v 0 = 0; v dot 0 = -g;  0 = 0;  dot 0 = 0 Step 2: Compute – Z k-1 's Angular Velocity & Angular Acceleration of Link k Compute  s k Compute Linear velocity and Linear acceleration of Link k Step 3: set k = k+1, if k<=n back to step 2 else set k = n and continue
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