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Hi all,

Since originally posting this question, I found the following python library:

http://gitorious.org/sympybotics

It generates symbolic python and C code given a robot description in terms of standard DH parameters, mass and rotational inertia. I've compared it to results with the iterative methods used in Peter Corke's matlab toolbox and everything seems to match up for a simple 2 link planar robot as well as a 6 DOF Puma robot.

There's not a lot of documentation, but the author's included a nice demo script and I've found the code to be self explanatory and very useful. Thanks.