THE PROVING AND APPLICATION OF A NEW SET OF EQUATIONS FOR KINEMATIC ANALYSIS OF ROBOTS

摘要

A new set of equations of rotation matrices and angular velocity vectors of rigid bodies have beenproved in this paper.We have presented and discussed a method of kinematic analysis for robots by using thederivative matrices of their rotation matrices,which is based on the set of proved equations,The use of themethod in the paper shows that it can replace the conventional,too complex method of diagram of recurrenceas a concise one of kinematic analysis for robots,As a result of using the method,we have given a conciseclose form of expressing of Jacobian matrix for a general robot that conslsts of n links and has n degrees ofpositional freedom,which is of certain value,The presented method here can be generally regarded as a sup-plement of the theory of kinematic analysis for rigid bodies.