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Symbolically Automated Direct Kinematic Equations Solver for Robotic Manipulators

Published online by Cambridge University Press:  09 March 2009

C.Y. Ho  and
Jen Sriwattanathamma
C.Y. Ho
Affiliation:
Department of Computer Science, University of Missouri–Rolla, Rolla, Missouri 65401 (USA)
Jen Sriwattanathamma
Affiliation:
Department of Computer Science, University of Missouri–Rolla, Rolla, Missouri 65401 (USA)
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Summary

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.

Keywords

PrologAutomated solverRobotsKinematic equations
Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989 , pp. 243 - 254
Copyright
Copyright © Cambridge University Press 1989

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