GEOMETRICAL MODELLING USING MATRIX EXPONENTIAL FUNCTIONS FOR A SERIAL ROBOT STRUCTURE
Abstract: In the paper, on the basis of formulations based on matrix exponential will be established the direct and inverse geometry equations. The matrix exponentials functions in robotics will be applied for a serial robot structure. Unlike classical algorithms, the application of the exponential matrix functions presents some advantages in determining the direct geometry equations. The results obtained in geometrical modeling, are representing input data for kinematical modeling, all those being important data in the study of dynamic behavior of any mechanical robot system.
Key words: Matrix exponentials functions, mathematical modeling, geometry, control.
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