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

<div>The first manipulator arm’s kinematic parameters. (a) The velocity of the first manipulator arm’s centroid. (b) The rotation angular velocity of the first manipulator arm.</div>

Mathematical Problems in Engineering

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Figure 11

Figure 11: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 