Mukundan, Rangaswamy, Department of Electrical and Computer Engineering Clarkson University Potsdam, New York 13676īottema, O., and Roth, B.1979. Yoder, Paul, J., Department of Mechanical and Industrial Engineering Clarkson University Potsdam, New York 13676 Pradeep, A.K., Department of Mechanical Engineering University of California Berkeley, California 94720 The International Journal of Robotics Research On the Use of Dual- Matrix Exponentials in Robotic Kinematics An example problem, dealing with the kinematics of the Rhino XR-2, illustrates how the approach immediately identifies those groups of joint variables that tend to cluster together. Working from first principles, it is shown that a screw displacement can be represented by the exponential of a dual skew-symmetric matrix a product of two such matri ces will suffice to specify the relationship between a pair of link coordinate frames. This paper sets forth an approach to robotic kinematics that brings together the use of matrix exponentiation and dual numbers.
