A distributed approach for solving the position inverse kinematics of mobile parallel manipulators

Author

Shah, Zuraini A. ; Abdul Qayyum, T. ; Shah, S.I.A.

Author_Institution

Robot. & AI Dept., NUST, Islamabad, Pakistan

fYear

2014

fDate

22-24 April 2014

Firstpage

283

Lastpage

286

Abstract

This paper presents a modified method for solving the Inverse Kinematics problem for Parallel Manipulators. The manipulator assumed consists of two 6R serial chains in parallel (biped configuration) with multiple orthogonally intersecting joint axes. The problem question is to determine whether or not is it possible to attain a certain goal configuration of the base and if yes then how to solve for the unknown joint angles. In principle this method can be extended to applications for mobile parallel manipulators with more than 2 serial chains.

Keywords

legged locomotion; manipulator kinematics; 6R serial chains; biped configuration; distributed approach; mobile parallel manipulators; orthogonally intersecting joint axes; position inverse kinematics; Foot; Hip; Joints; Legged locomotion; Manipulators; Pelvis; 12 DOF Walker; 2-6R Manipulator; 3D Manipulator; Biped; Distributed Inverse Kinematics; Mobile Manipulators; Parallel Manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014 International Conference on

Conference_Location

Islamabad

Print_ISBN

978-1-4799-5131-4

Type

conf

DOI

10.1109/iCREATE.2014.6828380

Filename

6828380