2005•Mechanical Science and TechnologyRequires access

A Modified Method for Jacobian Matrix with Screw Theory and Vector Product

Ping Ye

Abstract

Jacobian matrix is one of the important parameters of robots. Based on the screw theory and the vector product, a modified method for solving Jacobian matrix is proposed in this paper. This method inherits the advantages of screw theory, simplifies analysis methods of robot′s kinematics and dynamics. The validity and practicability of the proposed method is demonstrated by the computer simulation results.

About this research paper

What this paper is about

Why it matters

OpenAlex reports 1 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

Key concepts: Jacobian matrix and determinant, Screw theory, Kinematics, Matrix (chemical analysis), Product (mathematics), Robot, Computer science, Mathematics