Research Article | OPEN ACCESS
Depiction of the Automated Fiber Placement Robotic Manipulator's Jacobian Matrix by SOA
Yin Zhifeng and Ge Xinfeng
College of Electrical and Information Engineering, Xuchang University, Xuhang 461000, China
Research Journal of Applied Sciences, Engineering and Technology 2013 3:790-793
Received: June 07, 2012 | Accepted: July 09, 2012 | Published: January 21, 2013
Abstract
In order to simplify depiction of Jacobian matrix, the 7-DOF automation fiber placement robotic manipulator’s Jacobian matrix is solved by SOA in surrounding of mathematic comparing the Jacobian matrix solved by SOA to by differential method and vector cross product method, and finding that the Jacobian matrix solved by SOA has simple form and clear physical meaning, and for any structural robotic manipulator the Jacobian matrix solved by SOA has the form of analytical expression. Research shows that the Jacobian matrix solved by SOA is an effective method.
Keywords:
Fiber placement robotic manipulator, Jacobian matrix, spatial operator algebra,
Competing interests
The authors have no competing interests.
Open Access Policy
This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Copyright
The authors have no competing interests.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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