A Modified Method for Jacobian Matrix with Screw Theory and Vector Product

Jacobian matrix is one of the important parameters of robots. Based on the screw theory and the vector product, a modified method for solving Jacobian matrix is proposed in this paper. This method inherits the advantages of screw theory, simplifies analysis methods of robot′s kinematics and dynamics. The validity and practicability of the proposed method is demonstrated by the computer simulation results.