This report describes a mathematical framework based on screw theory to solve the kine- matics and dynamics of an arbitrary open chain manipulator. The configuration of two specific manipulators is described in this framework as an example. For one of the manipulators, a anthropomorphic 7 DoF arm, a closed form solution of the inverse kinematics problem is given.
The second part describes a software simulation framework to model arbitrary open chain manipulators in a physically realistic way. The presented SDK consist of a simulation of the kinematics and dynamics and a openGL visualization of the results.
Presented on 11.03.2020 by Ioannis Iossifidis
Paper: