4

Jacobians: Velocities and Static Forces

4.1 Introduction

In this chapter, kinematic analysis of robot manipulators is further examined beyond static positioning. The notions of linear velocity of a point and angular velocity of a rigid body are defined in the same way as position of a point and orientation of a rigid body are defined in Chapter 2. Furthermore, these concepts are used to analyze the motion of parallel manipulators. Differential ...

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