V1V2Achse

V1V2Achse refers to a specific axis or line of rotation often encountered in the study of rigid body dynamics, particularly in the context of robotics and biomechanics. It signifies a rotation occurring around the second joint axis (V2) of a robotic arm or limb segment, relative to the first joint axis (V1). Understanding the V1V2Achse is crucial for calculating the end-effector's position and orientation in space, as well as for analyzing the forces and torques acting on the system. In essence, it describes how motion at the second joint influences the overall configuration of the linked structure, considering the established orientation from the first joint. The concept is often implemented in kinematic chains, where each joint's movement is defined by its own axis, and the V1V2Achse helps to coordinate these movements to achieve a desired outcome. The precise mathematical representation of the V1V2Achse depends on the chosen coordinate frame and the convention used for defining joint axes.