... into a single rigid-body displacement R Cn + 1 = R ≠ I and r n + 1 = d ≠ 0 at the distal end of the kinematic chain. Another integration of the kinematic differential equations will then correct for displacement along a single screw representing that constraint...

...Paul Milenkovic The kinematic differential equations express the paths taken by points, lines, and coordinate frames attached to a rigid body in terms of the instantaneous screw for the motion of that body. Such differential equations are linear but with a time-varying coefficient and hence...