摘要
This paper presents the application of dual-number matrix to the formulation of Jacobian equations of robot with redundancy, the analytical technique that is based on the dual-number matrices, a 3 × 3 matrix with dualnumber elements, and the dual-number transformation method. Dual-number matrices make possible a concise representation of joint parameters. In particular, the method can effectively be used for direct determination of Jacobian matrices. It is shown that the proposed procedure contributes a simplified approach to the formulation of robotic kinematics, dynamics and control system modelling.
