Symbolically Automated Direct Kinematic Equations Solver For Robotic Manipulators
Abstract
Solving the direct kinematic problem in a symbolic form requires a laborious process of successive multiplications of the link homogeneous transformation matrices and involves a series of algebraic and trigonometric simplifications. The manual production of such solutions is tedious and error-prone. Due to the efficiency of the Prolog language in symbolic processing, a rule-based Prolog program is developed to automate the creation of the following processes: Link transformation matrices; forward kinematic solutions; and the Jacobian matrix. This paper presents the backward recursive formulation techniques, the trigonometric identity rules, and some heuristic rules for implementing the system. A verification of the system has been demonstrated in case of several industrial robots. © 1989, Cambridge University Press. All rights reserved.
Recommended Citation
C. Y. Ho and J. Sriwattanathamma, "Symbolically Automated Direct Kinematic Equations Solver For Robotic Manipulators," Robotica, vol. 7, no. 3, pp. 243 - 254, Cambridge University Press, Jan 1989.
The definitive version is available at https://doi.org/10.1017/S026357470000610X
Department(s)
Mathematics and Statistics
Keywords and Phrases
Automated solver; Kinematic equations; Prolog; Robots
International Standard Serial Number (ISSN)
1469-8668; 0263-5747
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2023 Cambridge University Press, All rights reserved.
Publication Date
01 Jan 1989
