THE DERIVATlVE OPERATOR MATRIX METHOD FOR ANALYSES OF MANIPULATORS

In this paper,the pose and error analyses of manipulators have been made and the matrix formulae for determining pose,velocity,acceleration and error of manipulators in forward,and,inverse problems have been derived by making use of the derivative operator matrix method.The correctness of these formulae has been verified with an example. The method suggested by author is characterized by powerful regularity of the formulae and easiness of the automatic derivation and the numerical computation.