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Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory

Author

Listed:
  • Aixuan Wu
  • Zhiping Shi
  • Yongdong Li
  • Minhua Wu
  • Yong Guan
  • Jie Zhang
  • Hongxing Wei

Abstract

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.

Suggested Citation

  • Aixuan Wu & Zhiping Shi & Yongdong Li & Minhua Wu & Yong Guan & Jie Zhang & Hongxing Wei, 2015. "Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-7, October.
    • Handle: RePEc:hin:jnlmpe:549797
    DOI: 10.1155/2015/549797
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