Kinematic Equations and Problem Solving
The velocity of point P, a point on some end-effector, can be determined by the following equation, reference Figure 4-3: Figure 4-3 Waldron's notation (4.28) Equation (4.28) can also be reduced to the form (4.29) where i is the absolute angular velocity of link i and i is the position vector between joint axes i+1 and i: (4… ................
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