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Inverse dynamics of mechanical multibody systems: An improved algorithm that ensures consistency between kinematics and external forces

Conceptualization: Herre Faber. Funding acquisition: Dinant A. Kistemaker. Methodology: Herre Faber, Arthur J. van Soest, Dinant A. Kistemaker. Software: Herre Faber. Supervision: Arthur J. van Soest, Dinant A ... . Kistemaker. Validation: Herre Faber. Visualization: Herre Faber. Writing ± original draft: Herre Faber, Arthur J. van Soest, Dinant A. Kistemaker. Writing ± review & editing: Herre Faber, Arthur J. van