Driving force dynamical matrix

Once the Fock operators have been constructed from a set of MSOs, this matrix equation is linear in its unknowns. Its coefficients are dependent on time in a way determined by the forces driving the electrons. These forces are the nuclear Coulomb potentials in molecular collisions or dynamics, but they could also be weak external fields. 

As was true for the joint accelerations, if the present state, driving actuator tffl ques and/or forces, and motion of the base are known, the open-chain term, Xopenf is known. Its value may also be determined using an tq>pr(piate Direct Dynamics algorithm for ( n-chain manipulators. Because the joint positions are assumed known, the inverse operational space inertia matrix, A is defined. The efficient computation of A and its inverse was the primary topic of Ch ter 4. 

Dahlmann-Noor, A. H., B. Martin-Martin, M. Eastwood, P. T. Khaw, and M. Bailly. 2007. Dynamic protrusive cell behaviour generates force and drives early matrix contraction by fibroblasts. Exp Cell Res 313 4158-69. 

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