General expression of manipulator kinematics

In this paper, a general description for kinematic modelling of all types of manipulators is presented by expanding the concept of the homogeneous transformation (Ai-matrix) based on Denavit-Hartenberg notation. Unlike the previous matrix method, the expression of recursive relationships which is suitable for computer-aided design makes it possible to derive automatically the position and orientation of manipulator hand. Two algorithms which take into consideration of the order of operation result in identical relations with respect to the kinematics between the reference system and the final link, which was proved by an application to a six-link manipulator. (author)