Linear velocity of link {i} in frame {j} coordinates

v[dh_, 0, 0] := {0, 0, 0} ;

v[dh_, i_, i_] := <br />    R[dh, i, i - 1] . (v[dh, i - 1, i - 1] + Cross ... - 1],   P[dh, i - 1, i]]) + If[dh[[i, 5]] == 1, Dt[dh[[i, 3]], t] {0, 0, 1}, {0, 0, 0}]

v[dh_, j_, i_] := <br />    R[dh, j, i] . v[dh, i, i] ;

Created by Mathematica  (October 21, 2003)