Jose M Pardor Gortor
The University Carlos III of Madrid, Spain
Title: Screw Theory for Robotics - A modern mechatronics mathematical foundation
Biography
Biography: Jose M Pardor Gortor
Abstract
The importance of screw theory in robotics is recognized, but in practice, not many teach it to engineering students. Only few postgraduates know how to exploit it. However, in a variety of areas of robotics, the methods and formalisms based on the geometry and algebra of the screws have proven to be superior to other techniques and have led to significant advances recognized by robot researchers. Many say that kinematics for robots of many degrees of freedom (DOF) can only be addressed in a practical way with numeric algorithms. However, this approach is not very suitable for real time applications. Screw theory paves the way for solving kinematics with very compelling computational geometric algorithms truly effective and efficient, even for mechanisms and robots with many DOF. Using the product of exponentials, it is possible to develop geometric algorithms to solve the inverse kinematics problem. This method was originally presented by Paden and built on the unpublished work of Kahan. It is possible to develop additional problems to solve the inverse kinematics of different robots. For instance, the author presents some Pardos-Gotor (PG) canonical subproblems useful for solving prismatic joints. Several examples with applications to real industrial robots will be presented with MATLAB-Simulink-Simscape simulations and videos.