KINEMATIC CONTROL FUNCTIONS FOR A SERIAL ROBOT STRUCTURE BASED ON THE TIME DERIVATIVE JACOBIAN MATRIX

The kinematic modeling of a mechanical system with n degrees of freedom, involves an impressive volume of computational or differential calculus. There are algorithms dedicated to this task developed in the literature. Applying of algorithms allows a detailed, numerical and / or graphical analysis of kinematics for a mechanical structure, regardless of its type and complexity. The results obtained with algorithms are essential in optimal design, dimensional and energetically, but also to simulate the kinematical and dynamic behavior of the mechanical structures of the robots.