The kinematic equations of two robots of the type 3tr-2r in cooperation movements

In this paper, the kinematic equations for tow robots working in cooperative movements are presented. To establish the equations of direct kinematics, the algorithm of exponential matrices in kinematics will be applique. The goal of the algorithm is to determine the Jacobian matrix, together with its first-order derivative with respect to time. These robots, working in cooperative movements, can be used to make complex parts.