A new efficient and robust algorithm based on incident degree, called recurrently dividing of matrix (RDM), has been developed for finding optimum code in detecting isomorphism among planar or spatial kinematic chains which can be represented by weighted graphs, adjacent matrices or matrix codes. The developed algorithm uses the recurring methods to order and divide adjacent matrix into various areas with different connection property so that the optimum code is found. Salient feature of this algorithm is removing computational inefficiency and remaining unique value of code approach in generating the codes, and able to detect symmetry in kinematic chains in the light of it.

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