Motion control using the product-of-exponentials kinematic equations

An investigation is conducted of the computational aspects of the product of exponentials (POE) formula, and an application to resolved-rate motion control of a six-degree-of-freedom manipulator based on a table lookup scheme is presented. It is shown that the computational requirements for evaluating the Jacobian are comparable to the more standard recursive methods discussed in the work of D. Orin and W. Schrader (1984). In addition to having intuitive geometric appeal, the POE formula adds some measure of device-independence to the kinematic equations of a manipulator