Title :
The analytical Jacobian and its derivative for a parallel manipulator
Author :
Dutre, Stefan ; Bruyninckx, Herman ; Schutter, Joris De
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
Abstract :
This paper finds an analytical expression for the Jacobian matrix of a parallel manipulator as well as for its derivatives (with respect to time or to a change in joint angles) of any order. The most important part in the presented procedures is the closed-form expression for the velocity closure equations of the manipulator
Keywords :
Jacobian matrices; manipulator dynamics; manipulator kinematics; velocity control; Jacobian matrix; Stewart Gough platform; closed-form solution; derivative; dynamics; joint angles; joint velocity; kinematic chains; parallel manipulator; Acceleration; Calibration; End effectors; Equations; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Parallel robots; Terminology;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606737
