ESTABLISHING THE JACOBIAN MATRIX FOR A THREE DEGREES OF FREEDOM SERIAL STRUCTURE

Abstract: The algorithms used in the mathematical modeling of mechanical robot structures, are used for establishing, on one hand of the homogeneous transformations in the direct geometry modeling, and on the other hand to determine the Jacobian matrix as well as the kinematics equations expressed by exponential functions. In this paper, is presented on the basis of a few formulations regarding the most important differential matrices in the kinematics of robots, known as the Jacobian matrix, or the matrix of partial derivatives, and in robotics as the velocity transfer matrix. Key words: Jacobian Matrix, algorithm, serial structure, kinematics, robot, matrix exponentials.