4 ms·
Modern Robotics adopts the Product of Exponentials (PoE) mathematical approach (also known as screw-theoretic) over Denavit-Hartenberg (D-H) for forward kinemat
by hcrisp 5y ago
Modern Robotics adopts the Product of Exponentials (PoE) mathematical approach (also known as screw-theoretic) over Denavit-Hartenberg (D-H) for forward kinematics . Do robotics companies use PoE in their written software or is D-H still the practical choice?
- gmadsen 5y agoId say by leaps and bounds DH software in companies needs to be as easy to explain as possible to the widest audience. very few people have a firm understanding of exponential maps
- biotinker 5y agoI work for Viam[0] and while all of our actual calculations are made using Spatial Vector Algebra[1], inputs can be made in a number of different ways and supporting DH is crucial for allowing pre-existing configurations to be easily brought over to our platform. SVA can also conveniently be easily used for both kinematics and dynamics. Personally I find SVA way more intuitive than DH or PoE. [0] https://www.viam.com/ https://www.viam.com/ [1] https://link.springer.com/chapter/10.1007/978-1-4899-7560-7_2 https://link.springer.com/chapter/10.1007/978-1-4899-7560-7_...
- erwincoumans 5y agoBTW, we use Featherstone algos too (ABA, RNEA, CRBA etc) but use URDF to describe our robots.
- hcrisp 5y agoThanks for the reference to SVA. I found a pretty understandable set of intro slides [0] on Roy Featherstone's home page [1] under the Teaching Material section. [0] zip file: http://royfeatherstone.org/teaching/IntroSpVec2021.zip http://royfeatherstone.org/teaching/IntroSpVec2021.zip [1] http://royfeatherstone.org/ http://royfeatherstone.org/