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The document outlines the positions of the centers of mass for each link in a 3R serial planar manipulator, providing equations for the coordinates of each link relative to joint 1. It also details the inertia felt by each joint, including coupling terms that describe how the motion of one joint affects the torque of another. Additionally, it presents the Coriolis terms and their physical meanings, illustrating the effects of joint velocities on each joint

Author

jeevaratnam606

Language

EN