Zhang, Yujie; Cui, Jing; Li, Yang; Chu, Zhongyi - In: Industrial Robot: the international journal of robotics … 50 (2023) 5, pp. 753-764
Purpose This paper aims to address the issue of model discontinuity typically encountered in traditional Denavit-Hartenberg (DH) models. To achieve this, we propose the use of a local Product of Exponentials (POE) approach. Additionally, a modified calibration model is presented which takes into...