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2008•Journal of Jiangsu University of Science and TechnologyRequires access

Research on Modeling of Robot Manipulator Dynamics Based on Screw Theory

Hongtao Wu

Open publisher page 2 citations

Abstract

Based on the screw theory and Kane equation,the rationale combining site is found through the combination with the screw theory and Kane equation,alsonamely the partial speed or Jacobian matrix.The concept of partial speed screw is introduced.Then a new method to solve the robot Jacobian matrix is introduced,which unifies the vector product and the screw theory.The robot Kane dynamic equation based on the screw theory is finally deduced.

About this research paper

What this paper is about

Based on the screw theory and Kane equation,the rationale combining site is found through the combination with the screw theory and Kane equation,alsonamely the partial speed or Jacobian matrix.The concept of partial speed screw is introduced.Then a new method to solve the robot Jacobian matrix is introduced,which unifies the vector product and the screw theory.The robot Kane dynamic equation based on the screw theory is finally deduced.

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OpenAlex reports 2 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

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Method / approach

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Available abstract

Based on the screw theory and Kane equation,the rationale combining site is found through the combination with the screw theory and Kane equation,alsonamely the partial speed or Jacobian matrix.The concept of partial speed screw is introduced.Then a new method to solve the robot Jacobian matrix is introduced,which unifies the vector product and the screw theory.The robot Kane dynamic equation based on the screw theory is finally deduced.

Key concepts: Screw theory, Jacobian matrix and determinant, Control theory (sociology), Robot, Dynamics (music), Robot manipulator, Mathematics, Computer science

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