Closed-form direct position kinematics solution for a 3-RSR platform manipulator

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators. A class of 3-RSR parallel manipulator is considered here. Through the analysis of geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Mathematica. The closed-form solution includes both analytical and real-time approaches for practical applications and control. A numerical example is also presented and the results are verified by an inverse kinematics analysis. It is shown that the method has a practical value for real-time control