(Department seminar no. 34)

Time: Mar. 10th, 2016, 11:15
Place: room 208 C-3

Speaker: Prof. I. Dulęba

Subject: A proof and consequences of a well-known kinematic fact

In this talk we will prove that, in some coordinate frames, Jacobian matrices of robot manipulators do not depend on the first variable of a configuration vector. Using this fact it will be shown how to simplify computations of singular configurations as well as some terms of equations of dynamics of a~manipulator. The simplifications impact a~computational complexity of deriving the aforementioned data and are particularly useful for lecturers of robotics for on-line calculations.