Title :
A singularity-consistent parametrization based direct kinematics algorithm for a class of parallel manipulators
Author :
Bhattacharya, S. ; Nenchev, D.N. ; Uchiyama, M.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples given
Keywords :
control system analysis computing; convergence of numerical methods; iterative methods; manipulator kinematics; tracking; convergence; direct kinematics; iterative method; parallel manipulators; real time system; singularity-consistent parametrization; tracking; Algorithm design and analysis; Geometry; Iterative algorithms; Iterative methods; Kinematics; Motion analysis; Null space; Performance analysis; Upper bound;
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.1997.619364
