DocumentCode
3337764
Title
An algorithm for the forward kinematics of general parallel manipulators
Author
Merlet, Jean-Pierre
Author_Institution
INRIA, Valbonne, France
fYear
1991
fDate
19-22 June 1991
Firstpage
1136
Abstract
Forward kinematics has been studied mainly for parallel manipulators with planar faces. In this case the size of the set of equations from the inverse kinematics can be reduced from six to three and this last set can be combined into a polynomial in one variable. But this method cannot be extended to general parallel manipulators without planar faces. The author presents an algorithm for the forward kinematic of general manipulators and shows that the number of solutions is bounded by 352. A configuration with twelve solutions is presented.<>
Keywords
kinematics; manipulators; polynomials; forward kinematics; general parallel manipulators; planar faces; polynomial; robotics; Aerospace simulation; Assembly; Equations; Force control; Kinematics; Manipulators; Performance analysis; Polynomials; Robots; Writing;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240403
Filename
240403
Link To Document