Kinematics design for structures and algorithms

Ding Xilun; Chen Hao; Xu Kun

doi:10.4018/978-1-4666-0291-5.ch002

Kinematics design for structures and algorithms

Ding Xilun
, Chen Hao
, Xu Kun

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

The purpose of this chapter is to present the kinematic analysis of service robots using the Product of Exponential (PoE) formula. The forward kinematics problem and inverse kinematics problem are discussed and the Jacobian is obtained too. A model of quadruped robot will be used as an example in corresponding sections in order to facilitate understanding.

Original language	English
Title of host publication	Service Robots and Robotics
Subtitle of host publication	Design and Application
Publisher	IGI Global
Pages	15-29
Number of pages	15
ISBN (Print)	9781466602915
DOIs	https://doi.org/10.4018/978-1-4666-0291-5.ch002
State	Published - 2012

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abstract = "The purpose of this chapter is to present the kinematic analysis of service robots using the Product of Exponential (PoE) formula. The forward kinematics problem and inverse kinematics problem are discussed and the Jacobian is obtained too. A model of quadruped robot will be used as an example in corresponding sections in order to facilitate understanding.",

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AB - The purpose of this chapter is to present the kinematic analysis of service robots using the Product of Exponential (PoE) formula. The forward kinematics problem and inverse kinematics problem are discussed and the Jacobian is obtained too. A model of quadruped robot will be used as an example in corresponding sections in order to facilitate understanding.

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Kinematics design for structures and algorithms

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