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

<div>(a) The mechanical structure of the manipulator’s main kinematic chain. (b) The mechanism diagram of the manipulator’s main kinematic chain and the established joint coordinate systems.</div>

Mathematical Problems in Engineering

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Figure 3

Figure 3: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 