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.

• Periodical: Applied Mechanics and Materials (Volumes 58-60)
• Pages: 1902-1907
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.58-60.1902
• Online since: June 2011
• Authors: Xin Fen Ge, Jing Tao Jin
• Keywords: D-H Parameter, Exponential Product, Kinematics Solution, Redundant Manipulator

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