Robot sistemlerinde kinematik yöntemlerin karşılaştırılması

Robotların kinematik modelinin çıkarılması için Kartezyen ve Kartonyum olmak üzere iki farklı uzay kullanılmıştır. Bu yöntemlerden bazıları ileri yön kinematik için uygunken diğerleri ise ters kinematik çözümler için kullanışlıdır. Aynı kinematik ilişkiyi açıklarken Kartezyen uzayındaki yöntemlerinden elde edilen matrisler, Kartonyum uzayında elde edilen vektörden daha fazla eleman içerir. Bundan dolayı, bilgisayar ortamında Kartonyum uzayında açıklanan kinematik yöntem, Kartezyen uzayında açıklanan kinematik yöntemlerden daha hızlı çalışır.

The comparision of kinematic models of robot systems

In this paper, six methods for the formulation of the robot kinematic equations with serial links are presented. Two different spaces are used in kinematic modeling of robots namely Cartesian space and Quaternion space. Five kinematic methods in Cartesian space and one kinematic method in Quaternion space are described and they are compared to each other. Some of these methods are useable for forward kinematic solutions while some others are for inverse kinematic solutions. Kinematic analysis in Quaternion space does not include redundant elements while Cartesian space analysis does. Therefore, the kinematic models defined in Quaternion space run faster than those defined in Cartesian space in computer environment.

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