The Jacobian Matrix Structure of the Barrier Arm of Inspection Robot

Abstract

The Jacobian matrix represents the relationship of the linear mapping between the space velocity of robot operation and joint space velocity, which is the important link in the process of robot control. According to analyzing the gesture character of the inspection robot when it gets over the obstacles. This paper sets up the dynamitic model of robot by utilizing D-H. Based on that, it builds the Jacobian matrix by adopting differential transformation method, which establishes the foundation of the robots motion planning and real-time control.