Abstract
Kinematic modeling of robotic arms is essential for robot control and calibration. The models used usually encompass matrix representation of the geometric behavior of the robot joints. The parameters of kinematic models should be designed such that the spatial relations between the successive joint axes are adequately described. However, most of the models currently available for users either suffer from numerical singularities (both apparent and hidden) or do not possess certain properties required for robot calibration. In the present work, a new kinematic model is proposed, to overcome the drawbacks of the models currently available. The proposed model, which is referred to as the Φ-model. possesses a zero-initial position characteristic in the sense that the various joint displacements can be assigned the value of zero at any desired initial configuration. The Φ-model is also equipped with a parameter-control tool which is presented as a new concept in the field of robot kinematic modeling and is designed such that all possible poses of the end-effector frame can be adequately described to ensure the model completeness.
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