Screw representation of the robotic manipulator´s kinematics

In this paper screw representation of the robotic manipulator´s kinematics is studied comprehensively. First, the robotic manipulator´s rigid body motions are describeded using Lie group and screw theory; then the robotic manipulator´s kinematics algorithm are established; next, the algorithm is implemented using mathematica; the representative robotic manipulator is selected and its kinematics are analyzed, and the algorithm and procedures are verified; Finally, the screw exponential product method of the robotic manipulator´s kinematics and the traditional D-H parameters method are compared and analyzed, and the screw exponential product method of the robotic manipulator´s kinematics advantages are elaborated from two aspects including the kinematics parameters geometric description and the impact of the analysis after establishing the robotic manipulator´s kinematics relations.