Development of a parallel link manipulator

Author

Arai, Tatsuo ; Stoughton, Robert ; Homma, Keiko ; Adachi, Hironori ; Nakamura, Tatsuya ; Nakashima, Katsumi

Author_Institution

Dept. of Robotics, Mech. Eng. Lab., Ibaraki, Japan

fYear

1991

fDate

19-22 June 1991

Firstpage

839

Abstract

Describes a parallel link manipulator built for application to an underground excavation task. The specifications of both the manipulator and the controller are explained. The kinematics of the manipulator are analyzed to develop a control algorithm. The workspace of the manipulator is analyzed by simulation. The singularity problem for parallel manipulators is discussed. Since it is difficult to derive the forward kinematics in the closed form, two alternatives are proposed: a serial measuring link and a linearization method using the Jacobian. The former is used to get the precise location and orientation of the end effector for real-time control and the latter gives a good estimation of the end effector motion in off-line motion planning.<>

Keywords

kinematics; manipulators; path planning; position control; Jacobian; end effector; kinematics; linearization method; off-line motion planning; parallel link manipulator; path planning; position control; real-time control; serial measuring link; singularity; underground excavation task; workspace; Analytical models; End effectors; Jacobian matrices; Kinematics; Laboratories; Legged locomotion; Manipulators; Mechanical engineering; Motion control; Space technology;

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.1991.240570

Filename

240570