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

Figure 15

The H-point’s kinematic parameters. (a) The displacement of the H-point in the inertial system. (b) The velocity of the H-point in the inertial system. (c) The acceleration of the H-point in the inertial system.

(a)

(b)

(c)