Formal kinematic analysis of a general 6R manipulator using the screw theory

DOI10.1155/2015/549797MaRDI QIDQ1665987zbMATH OpenOpenAlexWikidataFDO

Authors Aixuan Wu, Zhiping Shi, Yong Guan, Jie Zhang, Hongxing Wei, Yong-Dong Li, Min-Hua Wu

Publication date 27 August 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2015/549797

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Review text

Summary: Kinematic analysis is a significant method when planning the trajectory of robotic manipulators. The main idea behind kinematic analysis is to study the motion of the robot based on the geometrical relationship of the robotic links and their joints, such as the Denavit-Hartenberg parameters. Given the continuous nature of kinematic analysis and the shortcoming of the traditional verification methods, we propose to use high-order-logic theorem proving for conducting formal kinematic analysis. Based on the screw theory in HOL4, which is newly developed by our research institute, we utilize the geometrical theory of HOL4 to develop formal reasoning support for the kinematic analysis of a robotic manipulator. To illustrate the usefulness of our fundamental formalization, we present the formal kinematic analysis of a general 6R manipulator.

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Cites work

• Formalization of function matrix theory in HOL
• Formalization of linear space theory in the higher-order logic proving system
• scientific article; zbMATH DE number 50706 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• The HOL Light theory of Euclidean space

Cited in

(6)

• Forward displacement analysis of the general 6-6 Stewart mechanism using Gröbner bases
• Closed form solutions for inverse kinematics approximation of general 6R manipulators.
• A kinematic structure-based classification and compact kinematic equations for six-dof industrial robotic manipulators
• Formal analysis of the kinematic Jacobian in screw theory
• scientific article; zbMATH DE number 1080098 (Why is no real title available?)
• Formalization of camera pose estimation algorithm based on Rodrigues formula

Describes a project that uses

Uses Software

• HOL

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