# Effiecient computation of coriollis matrix

I want to perform kinodynamic motion planning on a 6DoF hybrid manipulator. I calculated mass matrix, coriollis matrix etc using the lagrangian method. The coriollis matirx was calculated symbolically from the mass matirx using christoffel symbols. But this calculation takes too much time for me. I was wondering if there is any way by which the coriollis matrix may be calculated in a more faster and efficient way?

The Robotics Toolbox for MATLAB has a CodeGenerator class which takes a serial-link robot model SerialLink expressed in terms of Denavit-Hartenberg parameters and generates efficient C code for all the dynamic terms: mass matrix, Coriolis/centripetal and gravity. It uses recursive Newton-Euler and the method of Orin and Walker, the equations are computed symbolically, simplified and then converted to C code.