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

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

Mathematical Problems in Engineering

fig12

Figure 12

Figure 12: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 