Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory
Joint Authors
Ma, Lu-han
Zhong, Yong-Bo
Wang, Gong-Dong
Li, Nan
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-09
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
The robot kinematic model is the basis of motion control, calibration, error analysis, etc.
Considering these factors, the kinematic model needs to meet the requirements of completeness, model continuity, and minimality.
DH model as the most widely used method to build robot kinematic model still has problems in completeness, model continuity, and calculation, especially for robots with complex mechanisms such as closed chain mechanism and branch mechanism.
In this paper, an improved kinematic modeling method is proposed based on the cooperation of the DH model and the Hayati and Mirmirani model and considering the Lie group concept.
The improved model is complete and continuous, and when combining with Lie group to calculate, it avoids numbers of trigonometric functions and antitrigonometric functions in the process so as to optimize the algorithm.
With this method, the kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated.
The results of the numerical calculation are basically consistent with those of virtual prototype simulation, which means the established kinematic model is correct and the numerical calculation method can solve the problem correctly.
The kinematic model and the results of the kinematic analysis provide a theoretical basis for the subsequent motion control, calibration, and error analysis of the robot.
American Psychological Association (APA)
Ma, Lu-han& Zhong, Yong-Bo& Wang, Gong-Dong& Li, Nan. 2020. Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1202164
Modern Language Association (MLA)
Ma, Lu-han…[et al.]. Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory. Mathematical Problems in Engineering No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1202164
American Medical Association (AMA)
Ma, Lu-han& Zhong, Yong-Bo& Wang, Gong-Dong& Li, Nan. Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1202164
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202164