Figure 12.1 illustrates a link (i) of a manipulator and shows its velocity and acceleration vectorial characteristics. Based on velocity and acceleration kinematics of rigid links we can write a set of recursive equations to relate the kinematics information of each link in the coordinate frame attached to the previous link. We may then generalize the method of analysis to be suitable for a robot with any number of links.
KeywordsCoordinate Frame Lagrange Equation Angular Acceleration Planar Manipulator Force System
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