Geometrical kinematic solution of serial spatial manipulators using screw theory
| Autor: | Hee Sung An, Chan Lee, Jeh Won Lee, Jie Hyeung Lee, TaeWon Seo |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Motion analysis Inverse kinematics Mechanical Engineering Mathematical analysis Bioengineering 02 engineering and technology Kinematics Computer Science Applications Computer Science::Robotics Moment (mathematics) 020303 mechanical engineering & transports 020901 industrial engineering & automation Classical mechanics 0203 mechanical engineering Mechanics of Materials Kinematics equations Screw theory Motion planning ComputingMethodologies_COMPUTERGRAPHICS Mathematics |
| Zdroj: | Mechanism and Machine Theory. 116:404-418 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/j.mechmachtheory.2017.06.002 |
| Popis: | Kinematics of a robot manipulator is an essential component of robotic analysis that includes control, motion planning, and design. Previous studies have proposed several different methods to provide an exact solution for kinematics. However, most of the methods are mathematically complicated and not sufficiently intuitive to express the geometrical meaning of kinematics. In this study, the exact solution to kinematics is derived based on the screw theory. The most important contribution of this study is providing a geometrical intuition of kinematics. Two arbitrary screws in space are equivalent to the sum of the mutual moment relation. In the study, general case solutions and special cases of parallel and perpendicular configuration were examined, and their geometrical meaning was discussed. The proposed method was used to analyze two industrial manipulators, and practical effectiveness was verified. The method could be applied to various manipulator configurations and the solution provides the geometrical intuition effectively. Additionally, the geometrical meaning of the solution can be used in design and motion planning. |
| Databáze: | OpenAIRE |
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