Dynamics and Control of Tree-Type Manipulator Systems using Exponential Coordinates

This paper aims to define a fast and easy means of designing tree-type architecture manipulator systems using exponential coordinates. Exponential coordinates allow for a simple definition of joint movements in a manipulator, which is well suited to the modeling of different complex architectures. Using this approach, it is possible to derive a unified framework for the manipulator and object dynamics in a closed-form manner. The key benefits of this methodology are its simplicity and flexibility. Using this newly derived form of dynamics, it becomes easy to change the manipulator structure from one design to another, which will simplify the optimization process in future system and control designs. A numerical example is demonstrated to prove the proposed method effectiveness.