The design scheme of the slide redundant manipulator system was introduced. POE(product of exponential) method was applied to build the system model.Forward and inverse kinematics were analyzed. The system singularity avoidance method was studied, and simulation results were given to illustrate the effectiveness of the method. During kinematics analyzing, its geometry characteristics were considered to embody the idea that was both important to system analysis simplification and system property optimization. So the method has universality to a certain extent, and can be extend to analyze the other robot systems.
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