Linear velocity iteration example

^0v_ ( 0)

v[DH, 0, 0] // Nice

( 0 ) 0 0

^1v_ ( 1)

v[DH, 1, 1] // Nice

( 0 ) 0 0

^2v_ ( 2)

v[DH, 2, 2] // Nice

( θ1 ) L1 --------------- sin(θ2) ... ;1 L1 cos(θ2) --------------- t 0

^3v_ ( 3)

v[DH, 3, 3] // Simplify// Nice

( θ1 ) L1 - ... --------------- t t 0

^0v_ ( 3)

v[DH, 0, 3] //Simplify// Nice

( θ2 θ1 ... t t 0

Created by Mathematica  (October 1, 2003)