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Geometrical kinematic solution of serial spatial manipulators using screw theory

Title
Geometrical kinematic solution of serial spatial manipulators using screw theory
Authors
An, Hee SungLee, Jie HyeungLee, ChanSeo, TaeWonLee, Jeh Won
DGIST Authors
Lee, Chan
Issue Date
2017
Citation
Mechanism and Machine Theory, 116, 404-418
Type
Article
Article Type
Article
Keywords
Exact SolutionGeometrical SolutionGeometryIndustrial ManipulatorsInstantaneous KinematicsKinematic SolutionsKinematicsMachine DesignManipulatorsMoment RelationMotion AnalysisMotion PlanningRobot ApplicationsRobot KinematicsRobot ManipulatorRobot ProgrammingScrew TheoryScrews
ISSN
0094-114X
Abstract
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. © 2017 Elsevier Ltd
URI
http://hdl.handle.net/20.500.11750/4278
DOI
10.1016/j.mechmachtheory.2017.06.002
Publisher
Elsevier Ltd
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringETC1. Journal Articles


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