• DocumentCode
    1537509
  • Title

    Comments on "Closed form forward kinematics solution to a class of hexapod robots"

  • Author

    Bruyninckx, Herman ; De Schutter, Joris

  • Author_Institution
    Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
  • Volume
    15
  • Issue
    4
  • fYear
    1999
  • Firstpage
    788
  • Lastpage
    789
  • Abstract
    The paper above by Yang and Geng (1998) presents a class of parallel manipulators that has an efficient closed form solution to its forward kinematics. This Correspondence points to some missing insights in that paper (and in many others), especially with respect to singular configurations.
  • Keywords
    Jacobian matrices; geometry; legged locomotion; manipulator kinematics; closed form forward kinematics solution; hexapod robots; parallel manipulators; singular configurations; Closed-form solution; End effectors; Equations; Geometry; Jacobian matrices; Kinematics; Manipulators; Mirrors; Parallel robots; Transmission line matrix methods;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.782035
  • Filename
    782035
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1537509