Definition sets for the Direct Kinematics of Parallel Manipulators

Details Definition sets for the Direct Kinematics of Parallel Manipulators Definition sets for the Direct Kinematics of Parallel Manipulators

2007-05-07

arxiv.org/abs/0705.0962v1

8th International Conference in Advanced Robotics (1997) 1-6

Computer Science

Robotics

Scientific paper

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator.

Affiliated with

Also associated with

No associations

Rating

Definition sets for the Direct Kinematics of Parallel Manipulators does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Definition sets for the Direct Kinematics of Parallel Manipulators, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Definition sets for the Direct Kinematics of Parallel Manipulators will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-598852