id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
alkej-792	M. Jasim, Fatima; M. Ali, Malik ; H. Hamad, Ali 	تصميم وتحليل روبوت رش	2022	14	.pdf	application/pdf	4838	298	68	The transformation matrix of the end-effector to the reference frame is concluded by multiplying the previous matrices, so ���= ��� × ��� × ��� …(1) ���= �1 0 0 ��0 1 0 ��00 00 10 ��1 � Where ��, ��, ��� �� are the joint space of each link. Joint velocity and acceleration of end-effector are determined with respect to the base frame, hence: ���= ����− ���� + ���� …(2) ��� = (���−g) � − ����+ ���� …(3) Where g is the gravitational acceleration, �� is the joint velocity of links, and �� is the joint acceleration.	cache/alkej-792.pdf	txt/alkej-792.txt