Velocidad lineal jacobiano

−0.75 S1−0.75 S12−0.15 S123 −0.75 S12 −0.15 S123 −0.15 S123

[
J v ( q )= 0.75 C1 +0.75 C 12+0.15 C 123 0.75 C 12 +0.15 C 123 0.15 C 123
0 0 0 ]
Velocidad angular jacobiano

0 0 0

[ ]
J w ( θ1 θ2 θ 3) = 0 0 0
1 1 1

Centro de masa de los eslabones:

Para: l 1=0.75 , l 2=0.75 y l3 =0.15