Formulation Method of Robot Kinematics Considering Versatility and Mobility of Each Joint

摘要

This paper proposes a method of formulating the robot kinematics. The proposed method can be applied to mobile manipulators, parallel link robots, and legged robots by the same procedure. The proposed forward kinematics formulation is based on tree-structured rigid-body system and is compared with the Denavit–Hartenberg method and URDF. The proposed differential kinematics formulation is represented by a block lower triangular matrix, which is a generalized form of the basic Jacobian matrix. In addition, an application example of the proposed formulation to the numerical inverse kinematics method is also shown. The usage of the proposed method is demonstrated by simulation experiments using a dual-arm mobile manipulator and a parallel link robot.