for rotational axis i

_RemoveSuffix (Function) Trj_SampleI

of the kinematic, i [...] (the values of d_i and a_i are supplied

axis (a0), i.e. a [...] axis (a1), i.e. a [...] axis (a2), i.e. a

in I/O configuration

, i.e. a product

the function block. i

_iState to control

axis. i

matrix, i.e. that m