Screw Representation of the Robotic Manipulators Kinematics

摘要：

In this paper screw representation of the robotic manipulators kinematics is studied comprehensively.First, the robotic manipulators rigid body motions are describeded using Lie group and screw theory; then the robotic manipulators kinematics algorithm are established; next, the algorithm is implemented using mathematica; the representative robotic manipulator is selected and its kinematics are analyzed, and the algorithm and procedures are verified; Finally, the screw exponential product method of the robotic manipulators kinematics and the traditional D-H parameters method are compared and analyzed, and the screw exponential product method of the robotic manipulators kinematics advantages are elaborated from two aspects including the kinematics parameters geometric description and the impact of the analysis after establishing the robotic manipulators kinematics relations.

关键词： robotic manipulator kinematics screw exponential product D-H parameters

作者: Yin Zhifeng Ge Xinfeng

作者单位: College of Electrical & Information Engineering Xuchang University Xuchang,China

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Grey System and Intelligent Services Joint with the 15th WOSC International Congress on Cybernetics and System(2011 IEEE灰色系统与智能服务国际会议暨系统与控制世界组织第15届年会)

会议地点: 南京

会议语种:英文

页码: 860-863

在线出版日期: 2011-09-15（万方平台首次上网日期，不代表论文的发表时间）