... study devoted to studying the forces required to causemotion. In order to accelerate a manipulator from rest, glide at a constant end-effector velocity, and finally decelerate to a stop, a complex ... 1.13:In order to cause the manipulator to follow the desired trajectory, aposition-control system must beimplemented.Such a system uses feedback fromjoint sensors to keep the manipulator on course.Fig. ... it to describe frames and as a mapping.RotationaloperatorsAnotherinterpretation of a rotation matrix is as a rotational operator that operateson a vectorA P1 and changes that vector toa...