- Title
- Analytical kinematics framework for the control of a parallel manipulator : A generalized kinematics framework for parallel manipulators
- Creator
- Saleem, Muhammad Saad; Sultan, Ibrahim; Khan, Asim
- Date
- 2009
- Type
- Text; Conference paper
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/33238
- Identifier
- vital:2367
- Identifier
- ISBN:9789896740009
- 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 function 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.
- Publisher
- Milan : INSTICC Press
- Relation
- Paper presented at ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Milan : 2nd-5th July 2009 Vol. 2 RA, p. 280-286
- Rights
- Copyright INSTICC
- Rights
- This metadata is freely available under a CCO license
- Subject
- Analytical kinematic function; Closed-loop manipulators; Forward kinematics; Inverse kinematics; Jacobian; Operational space control; Parallel manipulators
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