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

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

Mathematical Problems in Engineering

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Figure 13

Figure 13: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 