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Keywords: product of exponentials
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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101011.
Paper No: JMR-23-1707
Published Online: February 28, 2024
... models is proposed. First, compact kinematic models for multi-DOF joints are established with the product of exponentials formula and adopted in the forward kinematic formulation of limbs. Error models of limbs are derived by simplifying the forward kinematic formulas' differentials, and the geometric...
