Title :
Closed-form forward position kinematics for a (3-1-1-1)2 fully parallel manipulator
Author :
Bruyninckx, Herman
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
fDate :
4/1/1998 12:00:00 AM
Abstract :
This paper derives closed-form equations to solve the forward position kinematics of fully parallel manipulators with a 3-1-1-1 architecture on both the (planar) base and top platforms; the tetrahedrons emerging from the base and top platforms must have one leg in common. The closed-form solutions allow real-time execution on standard computer hardware: since only a few linear and quadratic equations have to be solved, all eight configurations can be found within milliseconds
Keywords :
computational complexity; manipulator kinematics; (3-1-1-1)2 fully parallel manipulator; closed-form forward position kinematics; linear equations; quadratic equations; tetrahedrons; Closed-form solution; Computer architecture; Hardware; Leg; Length measurement; Manipulators; Mechanical engineering; Nonlinear equations; Polynomials; Robot kinematics;
Journal_Title :
Robotics and Automation, IEEE Transactions on
