首页|Studies from National University of Trujillo Further Understanding of Robotics ( Automatic differential kinematics of serial manipulator robots through dual numb ers)
Studies from National University of Trujillo Further Understanding of Robotics ( Automatic differential kinematics of serial manipulator robots through dual numb ers)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning DailyNews Daily News-Current study results on robotics have been published. According to news reporting fromNational University of Trujill o by NewsRx journalists, research stated, "Dual Numbers are an extension ofreal numbers known for its capability of performing exact automatic differentiation of one-valued functionstheoretically without error approximation."Our news reporters obtained a quote from the research from National University o f Trujillo: "Also,Differential Kinematics of robots involves the computation of the Jacobian, which is a matrix of partialderivatives of the Forward Kinematic equations with respect to the robot's joints. Thus, to perform theautomatic ca lculation of the Jacobian matrix, this paper presents an extension of dual numbe rs composedof a scalar real part and a vector dual part, where the real part re presents the angular value of the robotjoint, and the dual part represents the direction of the corresponding partial derivative for each joint.The presented method was implemented in Matlab through Object Orientes Programming (OOP), andthe results for calculating the Jacobian of the KUKA KR 500 robot model for 1000 random postures weresubsequently compared in terms of execution time and Mean Squared Error (MSE) with other conventionalmethods: the geometric method, the s ymbolic method, and the finite difference method."
National University of TrujilloEmergin g TechnologiesMachine LearningNano-robotRobotRobotics
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