Title :
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
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;
Conference_Titel :
Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014 International Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4799-5131-4
DOI :
10.1109/iCREATE.2014.6828380
