Questions tagged [product-of-exponentials]

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2answers
57 views

Libraries to calculate kinematics using Screw Theory

Most kinematics libraries/packages use the conventional transformation matrices (DH parameters). However, I'm looking for something that uses Screw Theory principles to set up the Product of ...
2
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1answer
64 views

Kinematics with Product-of-Exponentials terminology: not forward, not inverse

I'm working on a kinematic estimation algorithm, and am trying to come up with the right terminology. I'm using the Product-of-Exponentials formulation for kinematic chains (and ignoring position ...
2
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0answers
237 views

Developing world-frame Jacobian using product of exponentials [closed]

I am going through different texts (Spong Robot Modeling and Control, Murray Mathematical Introduction to Robotic Manipulations) and I am seeing different Jacobians developed for the same RRRP ...
0
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1answer
151 views

Converting product of exponentials from base frame to end-effector frame

This is a homework question from edx course Robot Mechanics and Control, Part II Given the following and expressing its forward kinematics as $T = e^{[S_1]\theta_1} ... e^{[S_6]\theta_6}M$ It is ...
4
votes
1answer
611 views

Robotic manipulator Jacobian by product of exponentials

I've taken a class and started a thesis on robotics and my reference for calculating the Jacobian by product of exponentials seems incorrect, see: http://www.cds.caltech.edu/~murray/books/MLS/pdf/...
2
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1answer
1k views

How to get the 4*4 matrix from the twist using product of exponentials, in robot kinematics?

In robot kinematics, we have $e^{(\theta*twist)}$, where $twist$ is 6*1 vector. How do I get the 4 by 4 transformation matrix by using product of exponentials?
2
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2answers
669 views

Denavit-Hartenberg convention or the product of exponentials formulation, when dealing with the manipulator kinematics?

Though, Denavit-Hartenberg notation is commonly used to describe the kinematics of robot manipulator, some researcher prefer the product of exponential instead; and even the claim that it's better. ...
3
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1answer
1k views

Numerical-Example for Paden-Kahan subproblems?

I am writing a kinematics library in Go as part of my final year project. I am working with Product of Exponentials method and have successfully implemented the Forward Kinematics part of this. I need ...