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Next: Inverse Acceleration Kinematics Up: Package Outline Previous: Inverse Velocity Kinematics

Acceleration Kinematics

I/P : tex2html_wrap_inline4981 , tex2html_wrap_inline4983 ..and.. tex2html_wrap_inline5003

O/P : tex2html_wrap_inline5005
where tex2html_wrap_inline4987 is the i-th joint acceleration, a is the linear tool acceleration and tex2html_wrap_inline5011 is the angular tool acceleration.


Abdelshakour Abuzneid
Fri Apr 18 16:15:07 EDT 1997