Iulia Cristina MARE, Iuliu NEGREAN


In this study, matrix exponential functions will be utilized to formulate the direct geometric equations for a multi-body system. Matrix exponential functions will be employed to analyze a serial robot structure of the 2RTR type. In comparison to conventional algorithms, the advantages of matrix exponential functions are notable in deriving the direct geometric equations. The outcomes derived from the geometric representation will serve as initial input for kinematic modeling. This data is crucial for investigating the dynamic characteristics of any multi-body system.

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