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Unformatted text preview: Velocities Start at joint 1, recursion to higher joints Angular Velocity of link i+1, expressed in base coordinates What happens to prismatic joints in this equation? Nothing :) i = i 1 + i z i 1 i = i 1 Computing Angular Accelerations Start at joint 1, recursion to higher joints Angular Acceleration of link i+1, expressed in coordinate system i+1 is obtained from differentiating the angular velocities For prismatic joints i + 1 i + 1 = R i i + 1 i i + i + 1 z i + 1 i + 1 i + 1 i + 1 = R i i + 1 i i + R i i + 1 i i i + 1 z i + 1 i + 1 + i + 1 z i + 1 i + 1 i + 1 i + 1 = R i i + 1 i i...
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 Recursion

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