COMPUTE-AUTOMATED GENERATION OF MANIPULATOR SYMBOLIC MODELS ON DKP & JACOBIAN

CHEN Guofeng, FU Xiangzhi, LIAO Daoxun. COMPUTE-AUTOMATED GENERATION OF MANIPULATOR SYMBOLIC MODELS ON DKP & JACOBIAN[J]. ROBOT, 1993, 15(5): 13-19.

Citation:

CHEN Guofeng, FU Xiangzhi, LIAO Daoxun. COMPUTE-AUTOMATED GENERATION OF MANIPULATOR SYMBOLIC MODELS ON DKP & JACOBIAN[J]. ROBOT, 1993, 15(5): 13-19.

Citation:

CHEN Guofeng, FU Xiangzhi, LIAO Daoxun. COMPUTE-AUTOMATED GENERATION OF MANIPULATOR SYMBOLIC MODELS ON DKP & JACOBIAN[J]. ROBOT, 1993, 15(5): 13-19.

Abstract

Computer-aided generation of manipulator kinematic models in symbolic form is studied in this paper.First,the recursive symbolic relations of D-H matrlces are derived.Then,a series of algebraic and trigono-metric simpfications for successive mulitiplications of D-H matrices are systematically analyzed.Finally,wepresent a method for computer-aided generation of symbolic models on DKP & Jacobian matrix.At the end ofthis paper four illustrative examples are given.

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