3.6 Position,velocity and acceleration analysis Newton-Raphson algorithm D(q+4q,)=D(q,）+更（q,4q+high-order terms ≈(q,)+惠(q,)4g For(g+4g,）=0D(q,)+电(g,)4g=0 Iteration: 惠(q,）4g=-(q,）,k=1,… q+=q)+4q) Until4g≤&(&>0，e<1）orD(q+,≤&(&>0，e<1)3.6 Position, velocity and acceleration analysis Newton-Raphson algorithm           ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) , , , , , k k k k k k k k t t t high order terms t t           q q q q q q q q q q      For   ( ) ( ) , k k  q  q t  0     ( ) ( ) ( ) , , k k k  q t q q t q  0     ( ) ( ) ( ) , , , 1, k k k q q t q   q t k   (k 1) (k ) (k )   q  q  q Until   ( ) 0, 1 k q       Iteration: or     ( 1) , 0, 1 k t      q   