... 229 The ce, o se, se, o -ce2 1 0 0 00 0 0 l[42 = I overall transformation matrix is 0 :I 1 :j 1 d3 ,[TI3 = oPI3 = o[A]i 1[ Al2 ,[AI3 1 ce,ce, se, ce,se, d3ce,se2 se,ce, ... o Thus C, - [I, + r3 + m2a2 + m3 (d3 - b) 16 , - 2m,ci,B,(d3 - b) = o Fig. 8.27 2 16 Robot arm dynamics 1 1 -SO, -CB,Ca, CB,Sa, -a,SB, CB, -SB,Ca, SB,Sa, a,CB, ... inertia matrix for link 2 is 0 0 [J12 = () I 0 similarly for link 3 0 0 8.8 4 0 0 4.9 -3 4 20 :I -3 10 Ej 2 14 Robot ann dynamics A14 = a, COS O4 + d6 COS e4...