5484453505

Position vector of point

\_m=XJ+Y_mj+Z_mk

Projection of velocity vector on directions of generalized coordinates

Generalized coordinates

idrf

	~"N
Differentiation of equation
^/// ”^/M 9^ )
v	J
Determination of inverse matrix
V
-	i
	\
Calculation of generalized velocities
V_

Vector position of gripper ^,»/^=,l^+,2⁺-^+,»<

I

Velocities and accelerations of gripper

v_/=v,+v₂+...-fv

ą =ą+a,+...+j^

Projection of acceleration vector on directions of generalized coordinates

	CN		c
	o		o
	C		C
	O		O
	o.		o.
	O		o
	c		c
	o • tmm	• •	o
	O	•	o
	E		E
	0)		o
	>		>
	JS		JH
	(U		o
	a: -1-		a —i—

i

Solution of the forward kinematics problem

c

o

• mam

O

E

o

D

O

(/)

n

<

v_)