CONSIDERATIONS ABOUT MATRIX EXPONENTIALS IN GEOMETRICAL MODELING OF THE ROBOTS

In specialized literature, there are many approaches to the mathematical modeling of robots. Thus, different algorithms for geometric modeling are consecrated. Most approaches require the use of reference systems, which can lead to errors in computing. The geometrical study of any mechanical robot structure can be realized by matrix exponential, having essential advantages besides the classical approaches. As a result, within this paper, there will be presented an example of mathematical modeling, concerning the matrix exponentials applied in the geometrical modeling of serial robots. Key words: robotics, geometry, matrix exponentials, control functions.