Paper Title:
The Algorithm of Redundant Robotic Kinematics Based on Exponential Product
  Abstract

The intrinsically redundant series manipulator’s kinematics were studied by the exponential product formula of screw theory, the direct kinematics problem and Inverse kinematics problems were analyzed, and the intrinsically redundant series manipulator’s kinematics solution that based on exponential product formulas were proposed; the intrinsically redundant series manipulator’s kinematics is decomposed into several simple sub-problems, then analyzed sub-problem, and set an example to validate the correctness of the proposed method. Finally, comparing the exponential product formula and the D-H parameters, draw that they are essentially the same in solving the manipulator’s kinematics, so as to the algorithm of the manipulator’s kinematics based on exponential product formulas are correct, and the manipulator’s kinematics process based on exponential product formula is more simple and easier to real-time control of industrial.

  Info
Periodical
Edited by
Qi Luo
Pages
1902-1907
DOI
10.4028/www.scientific.net/AMM.58-60.1902
Citation
X. F. Ge, J. T. Jin, "The Algorithm of Redundant Robotic Kinematics Based on Exponential Product", Applied Mechanics and Materials, Vols. 58-60, pp. 1902-1907, 2011
Online since
June 2011
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Price
$32.00
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