Abstract
The angular velocity of link (i) in the global coordinate frame B0 is a summation of global angular velocities of the links (j), for j ≤ i
where
The velocity of the origin of B i attached to link (i) in the base corrdinate frame is
where θ and d are DH parameters, and d is a frame’s origin position vector.
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Jazar, R.N. (2007). Velocity Kinematics. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-68964-7_8
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DOI: https://doi.org/10.1007/978-0-387-68964-7_8
Publisher Name: Springer, Boston, MA
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