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The product of exponentials (POE) method i … The product of exponentials (POE) method is a robotics convention for mapping the links of a spatial kinematic chain. It is an alternative to Denavit–Hartenberg parameterization. While the latter method uses the minimal number of parameters to represent joint motions, the former method has a number of advantages: uniform treatment of prismatic and revolute joints, definition of only two reference frames, and an easy geometric interpretation from the use of screw axes for each joint. The POE method was introduced by Roger W. Brockett in 1984.s introduced by Roger W. Brockett in 1984.
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| rdfs:comment |
The product of exponentials (POE) method i … The product of exponentials (POE) method is a robotics convention for mapping the links of a spatial kinematic chain. It is an alternative to Denavit–Hartenberg parameterization. While the latter method uses the minimal number of parameters to represent joint motions, the former method has a number of advantages: uniform treatment of prismatic and revolute joints, definition of only two reference frames, and an easy geometric interpretation from the use of screw axes for each joint. The POE method was introduced by Roger W. Brockett in 1984.s introduced by Roger W. Brockett in 1984.
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| rdfs:label |
Product of exponentials formula
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