Title :
The isotropic decoupling of the direct kinematics of parallel manipulators under sensor redundancy
Author :
Baron, Luc ; Angeles, Jorge
Author_Institution :
Dept. of Mech. Eng., Ecole Polytech., Montreal, Que., Canada
Abstract :
Using redundant sensors, the direct kinematics of general parallel manipulators is here decoupled and reduced to an orientation problem only. The accuracy of the decoupling depends on the condition number of a decoupling matrix. The conditions under which this matrix is isotropic are derived and illustrated with a numerical example
Keywords :
manipulator kinematics; minimisation; redundancy; condition number; decoupling matrix; direct kinematics; isotropic decoupling; orientation problem; parallel manipulators; sensor redundancy; Bismuth; Equations; Intelligent sensors; Jacobian matrices; Kinematics; Leg; Manipulators; Mechanical engineering; Mechanical sensors; Position measurement;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525494
