6D Vectors Approach in Cartesian Robot Motion Embedded on Logistics Process

Summary form only given. This work deals with the motion generation approach of cartesian robots (Figure 1), by the screw theory with the 6D vectors tool. With this approach, the Jacobian depends on twists instead of the partial derivate. So, it is possible to achieve a straightforward analytical solution of cartesian robot motion. Simulation results are discussed, as a first step for robot designing and control. The summary of contributions of this work are: 1) Novel analytical kinematics model, for Cartesian robots, with screws and 6D vectors, 2) Jacobian computation without partial derivate, it depends of twits and joint position, the jacobian will be used in dynamic model on generalized inertial matrix, 3) Smooth joint motion without singularities, because local joint frames are avoided.