Punching machine tool numerically controlled

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include translations, rotations, and scaling. example: if square matrices aand bsatisfy that ab= ba, then (ab)p= apbp. if joint i is robational, the θi is the joint variable and di, αi, and ri are constants. for the investigation of swimming bio-hybrid robots, we first solve a forward problem by numerically

fractions [ ]. this chapter will present the most useful representa-. kinematics joint space joint = q joint = q joint n = q n forward kinematics inverse kinematics [br t, bt t] = f(q) q-= f ( [br t, bt t] ) rigid body motion transformation between coordinate frames linear algebra cartesian space tool...

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