| Autor: |
Pradeep, A.K., Yoder, Paul J., Mukundan, Rangaswamy |
| Předmět: |
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| Zdroj: |
International Journal of Robotics Research; Oct89, Vol. 8 Issue 5, p57, 10p, 1 Diagram |
| Abstrakt: |
This paper sets forth an approach to robotic kinematics that brings together the use of matrix exponentiation and dual numbers. Working from first principles, it is shown that a screw displacement can be represented by the exponential of a dual skew-symmetric matrix; a product of two such matrices will suffice to specify the relationship between a pair of link coordinate frames. An example problem, dealing with the kinematics of the Rhino XR-2, illustrates how the approach immediately identifies those groups of joint variables that tend to cluster together. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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