A singularity-consistent parameterization based direct kinematics algorithm for a class of parallel manipulators

被引：0
|
作者：
Bhattacharya, S
Nenchev, DN
Uchiyama, M
机构：
来源：
1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 | 1997年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can. handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples incorporated at the end of this paper.
引用
收藏
页码：2671 / 2676
页数：6
相关论文
共 50 条
  • [41] On one approach to the approximation of solutions to the direct kinematics problem of parallel manipulators
    Gorchakov, Andrei
    Mozolenko, Vyacheslav
    OPEN COMPUTER SCIENCE, 2020, 10 (01) : 65 - 70
  • [42] The direct kinematics of parallel manipulators under joint-sensor redundancy
    Baron, L
    Angeles, J
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2000, 16 (01): : 12 - 19
  • [43] A Unified Approach to Direct Kinematics of Some Reduced Motion Parallel Manipulators
    Zsombor-Murray, P. J.
    Gfrerrer, A.
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2010, 2 (02): : 1 - 10
  • [44] THE DIRECT KINEMATICS OF PLANAR PARALLEL MANIPULATORS - SPECIAL ARCHITECTURES AND NUMBER OF SOLUTIONS
    GOSSELIN, CM
    MERLET, JP
    MECHANISM AND MACHINE THEORY, 1994, 29 (08) : 1083 - 1097
  • [45] Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators
    Simas, Henrique
    Di Gregorio, Raffaele
    Simoni, Roberto
    ROBOTICS, 2023, 12 (05)
  • [46] Inverse Kinematics Solution for Robotic Manipulators Using a CUDA-Based Parallel Genetic Algorithm
    Alejandro Aguilar, Omar
    Carlos Huegel, Joel
    ADVANCES IN ARTIFICIAL INTELLIGENCE, PT I, 2011, 7094 : 490 - 503
  • [47] A class of fully parallel manipulators with closed-form forward position kinematics
    Bruyninckx, H
    DeSchutter, J
    RECENT ADVANCES IN ROBOT KINEMATICS, 1996, : 411 - 420
  • [48] The kinematics of a class of 3-DOF, 4-legged parallel manipulators
    Joshi, SA
    Tsai, LW
    JOURNAL OF MECHANICAL DESIGN, 2003, 125 (01) : 52 - 60
  • [49] Mobility and Direct Kinematics of Parallel Manipulators RSS Type-3 Actuators
    Filip, Viviana
    Antonescu, Ovidiu
    ROBOTICS AND AUTOMATION SYSTEMS, 2010, 166-167 : 197 - +
  • [50] Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector
    Marchi, Tommaso
    Mottola, Giovanni
    Porta, Josep M.
    Thomas, Federico
    Carricato, Marco
    MACHINES, 2021, 9 (01) : 1 - 19
12345