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

<div>The variation curves of the manipulator joint’s kinematic parameters. (a) The manipulator’s joint rotation angle. (b) The manipulator’s joint rotation angular velocity.</div>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory 