DocumentCode
2057728
Title
Analytic Jacobian of in-parallel manipulators
Author
Kim, Doik ; Chung, Wankyun ; Youm, Y.
Volume
3
fYear
2000
fDate
2000
Firstpage
2376
Abstract
A general formulation to obtain an analytic Jacobian matrix for in-parallel manipulators has not been developed yet, although several authors addressed it. This paper suggests a consistent approach to obtain the instantaneous kinematic relation of in-parallel manipulators, by extending the results of screw theory to the forward and inverse instantaneous relations, and gives a formula that can obtain a reciprocal screw analytically without considering geometric relations
Keywords
Jacobian matrices; manipulator kinematics; analytic Jacobian matrix; in-parallel manipulators; kinematics; screw theory; Fasteners; Jacobian matrices; Kinematics; Leg; Manipulators; Mechanical engineering; Motion analysis; Robots; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846382
Filename
846382
Link To Document