Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory
Joint Authors
Guan, Yong
Wu, Aixuan
Li, Yongdong
Wu, Minhua
Wei, Hongxing
Zhang, Jie
Shi, Zhiping
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-28
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
Kinematic analysis is a significant method when planning the trajectory of robotic manipulators.
The main idea behind kinematic analysis is to study the motion of the robot based on the geometrical relationship of the robotic links and their joints, such as the Denavit-Hartenberg parameters.
Given the continuous nature of kinematic analysis and the shortcoming of the traditional verification methods, we propose to use high-order-logic theorem proving for conducting formal kinematic analysis.
Based on the screw theory in HOL4, which is newly developed by our research institute, we utilize the geometrical theory of HOL4 to develop formal reasoning support for the kinematic analysis of a robotic manipulator.
To illustrate the usefulness of our fundamental formalization, we present the formal kinematic analysis of a general 6R manipulator.
American Psychological Association (APA)
Wu, Aixuan& Shi, Zhiping& Li, Yongdong& Wu, Minhua& Guan, Yong& Zhang, Jie…[et al.]. 2015. Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1074129
Modern Language Association (MLA)
Wu, Aixuan…[et al.]. Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory. Mathematical Problems in Engineering No. 2015 (2015), pp.1-7.
https://search.emarefa.net/detail/BIM-1074129
American Medical Association (AMA)
Wu, Aixuan& Shi, Zhiping& Li, Yongdong& Wu, Minhua& Guan, Yong& Zhang, Jie…[et al.]. Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1074129
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074129