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

Table 1

The numerical solution path of the kinematic and dynamic models of the manipulator.

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Assign initial values to variables , .

For loop:

Calculated variables , , .

According to , , , can be obtained.

According to and , can be obtained, and then , , , can also be obtained.

According to and , , can be obtained, and then , can also be obtained.

Assign new values to variables , .

End

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