Kinematics analysis of slide redundant manipulator

The design scheme of slide redundant manipulator system was introduced. The POE (product of exponential) method was applied to build the system model. Forward and inverse kinematics were analyzed. The system singularity avoidance method was studied, and simulation results were given to illustrate the effectiveness of the method. During kinematics analyzing, its geometry characteristics are considered to embody the idea that is important to both system analysis simplification and system property optimization. So the method has universality to a certain extent, and can be extend to analyze the other robot systems.