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

Figure 17

The H-point’s kinematic parameters in the inertial coordinate system. (a) The displacement of the H-point and the gap between two results. (b) The velocity of the H-point and the gap between two results. (c) The acceleration of the H-point and the gap between two results.

(a)

(b)

(c)