DocumentCode
1030951
Title
Direct kinematics of parallel manipulators
Author
Merlet, J.-P.
Author_Institution
Centre de Sophia-Antipolis, France
Volume
9
Issue
6
fYear
1993
fDate
12/1/1993 12:00:00 AM
Firstpage
842
Lastpage
846
Abstract
The determination of the direct kinematics of fully parallel manipulators is in general a difficult problem but has to be solved for any practical use. Various methods are presented to solve this problem: two kinds of iterative schemes, a reduced iterative scheme, and a polynomial method. The computation time of these methods are compared and their various advantages are shown
Keywords
iterative methods; kinematics; robots; direct kinematics; parallel manipulators; polynomial method; reduced iterative scheme; Angular velocity; Automatic control; Control theory; Iterative methods; Manipulators; Mobile robots; Robot control; Robot kinematics; Robotics and automation; Switches;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.265928
Filename
265928
Link To Document