The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory

<div>The variation curves of the hydraulic cylinder’s kinematic parameters. (a) The length of the hydraulic cylinder. (b) The hydraulic cylinder’s joint rotation angle.</div>

Mathematical Problems in Engineering

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Figure 10

Figure 10: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 