Analytical kinematics framework for the control of a parallel manipulator: A generalized kinematics framework for parallel manipulators

Title: Analytical kinematics framework for the control of a parallel manipulator: A generalized kinematics framework for parallel manipulators
Creator: Khan, Asim; Sultan, Ibrahim; Saleem, Muhammad Saad
Date: 2009
Type: Text; Conference paper
Identifier: http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/61898
Identifier: vital:5185
Abstract: Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics relates the joint variables of the active joints to the position of end-effector. This paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RPR robot.; E1
Publisher: Milan INSTICC
Relation: Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics
Rights: Copyright INSTICC
Rights: This metadata is freely available under a CCO license
Subject: Analytical kinematic function; Jacobian; Forward kinematics; Inverse kinematics; Closed-loop manipulators; Parallel manipulators; Operational space control; Automation; Control theory; Robots
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