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

<div>The four manipulator arms’ kinematic parameters in the inertial coordinate system. (a) The velocities of the four manipulator arms’ centroids. (b) The rotation angular velocities of the four manipulator arms.</div>

Mathematical Problems in Engineering

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Figure 18

Figure 18: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 