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1 5 2 C h a p t e r 5 J a c o b i a n s : v e l o c i t i e s a n d s t a t i c f o r c e s

E X A M P L E 5 . 4






= 1 1 1 2 s 2 = 0 . ( 5 . 7 3 ) D E T [ J ( O ) ] _ [
1 1 s 2
0 1
l l c 2 + 1 2












E X A M P L E 5 . 5





1 I c ! s
O J - 1 ( O )
= 1 1 1 2 s 2
_ 1 1 c 1 1
1 2 c 1 2 - 1 1 s 1 i 1 2 s 1 2
( 5 . 7 4 )


































1 5 4 C h a p t e r 5 J a c o b i a n s : v e l o c i t i e s a n d s t a t i c f o r c e s

























I f i = ` f i + i ,
( 5 . 7 8 )
` n i = ` n i + l + ` P i + i X ` f i + i
( 5 . 7 9 )