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Abstract
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Article Information:
Depiction of the Automated Fiber Placement Robotic Manipulator’s Jacobian Matrix by SOA
Yin Zhifeng and Ge Xinfeng
Corresponding Author: Yin Zhifeng
Submitted: June 07, 2012
Accepted: July 09, 2012
Published: January 21, 2013 |
Abstract:
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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.
Key words: Fiber placement robotic manipulator, Jacobian matrix, spatial operator algebra, , , ,
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Cite this Reference:
Yin Zhifeng and Ge Xinfeng, . Depiction of the Automated Fiber Placement Robotic Manipulator’s Jacobian Matrix by SOA. Research Journal of Applied Sciences, Engineering and Technology, (03): 790-793.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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