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 second kinematic branch chain. (b) The mechanism diagram of the manipulator’s second kinematic branch chain and the established joint coordinate systems.</div>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 