Angular velocity of link {i} in frame {j} coordinates
Created by
Mathematica
(October 21, 2003)
![ω[dh_, 0, 0] := {0, 0, 0} ;](../HTMLFiles/index_24.gif){kind=small}
![ω[dh_, i_, i_] := R[dh, i, i - 1] . ω[dh, i - 1, i - 1] + If[dh[[i, 5]] == 0, Dt[dh[[i, 4]], t] {0, 0, 1}, {0, 0, 0}]](../HTMLFiles/index_25.gif){kind=small}
![ω[dh_, j_, i_] := <br /> R[dh, j, i] . ω[dh, i, i]](../HTMLFiles/index_26.gif){kind=small}