Fc. Park, COMPUTATIONAL ASPECTS OF THE PRODUCT-OF-EXPONENTIALS FORMULA FOR ROBOT KINEMATICS, IEEE transactions on automatic control, 39(3), 1994, pp. 643-647
Citations number
11
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
In this article we investigate the modeling and computational aspects
of the product-of-exponentials (POE) formula for robot kinematics. Whi
le its connections with Lie groups and Lie algebras give the POE equat
ions mathematical appeal, little is known regarding its usefulness for
control and other applications. We show that the POE formula admits a
simple global interpretation of an open kinematic chain and possesses
several useful device-independent features absent in the Denavit-Hart
enberg (DH) representations. Methods for efficiently computing the for
ward kinematics and Jacobian using these equations are presented. In p
articular, the computational requirements for evaluating the Jacobian
from the POE formula are compared to those of the recursive methods su
rveyed in Orin and Schrader [5].