General simulation of a specified Cartesian velocity trajectory

This function simulates a trajectory specified by the velocity relationship , where (jg) specifies some user defined inverse relationship (matrix), and the other function arguments are: dh = list of DH parameters, traj = desired end-effector velocity trajectory (as a function of t), initial = a list of initial joint angles for θ, and time = the simulation length (1, time).

Created by Mathematica  (October 21, 2003)