Kinematics of Reconfigurable Flexible- Manipulator Using a Local Product-of-Exponentials Formula

The kinematics of reconfigurable flexible-manipulator is automatically generated based on local POE method after investigating its effectiveness on geometric computing aspects. This article addresses both joint and link flexibilities at the same time. And also assumed mode model is provided to establish the flexible link kinematics. In the assumed mode model, all the parameters are considered as functions of time and time-dependent frequency equation is given. Finally, a RRP manipulator is set out to show the accurate kinematics model