CONSIDERATIONS ABOUT MATRIX EXPONENTIALS IN GEOMETRICAL MODELING OF THE ROBOTS
In specialized literature, there are many approaches to the mathematical modeling of robots. Thus, different algorithms for geometric modeling are consecrated. Most approaches require the use of reference systems, which can lead to errors in computing. The geometrical study of any mechanical robot structure can be realized by matrix exponential, having essential advantages besides the classical approaches. As a result, within this paper, there will be presented an example of mathematical modeling, concerning the matrix exponentials applied in the geometrical modeling of serial robots.
Key words: robotics, geometry, matrix exponentials, control functions.
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Schonstein, C., Panc N., - Kinematical modeling for R2T structure used in transfer parts between two workstations, published in Acta Technica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, Vol. 60, Issue III, 2017, ISSN 1221-5872, Cluj-Napoca, Romania.
Schonstein, C., Negrean, I., Panc N., - Geometrical modeling using matrix exponential functions for a serial robot structure, published in Acta Technica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, Vol. 60, Issue III, 2017, ISSN 1221-5872, Cluj-Napoca, Romania.
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