A New Method for Displacement Modelling of Serial Robots Using Finite Screw

摘要

Kinematics is a hot topic in robotic research, serving as a foundational step in the synthesis and analysis of robots. Forward kinematics and inverse kinematics are the prerequisite and foundation for motion control, trajectory planning, dynamic simulation, and precision guarantee of robotic manipulators. Both of them depend on the displacement models. Compared with the previous work, finite screw is proven to be the simplest and nonredundant mathematical tool for displacement description. Thus, it is used for displacement modelling of serial robots in this paper. Firstly, a finite-screw-based method for formulating displacement model is proposed, which is applicable for any serial robot. Secondly, the procedures for forward and inverse kinematics by solving the formulated displacement equation are discussed. Then, two typical serial robots with three translations and two rotations are taken as examples to illustrate the proposed method. Finally, through Matlab simulation, the obtained analytical expressions of kinematics are verified. The main contribution of the proposed method is that finite-screw-based displacement model is highly related with instantaneous-screw-based kinematic and dynamic models, providing an integrated modelling and analysis methodology for robotic mechanisms.