Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles

Details Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles

2007-05-08

arxiv.org/abs/0705.1148v1

Journal of Mechanism and Machine Theory 36, 6 (2001) 763-783

Computer Science

Robotics

Scientific paper

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the opposite geometrical model. Then, we define, for each working mode, the aspects of these manipulators. To separate the solutions from the direct kinematics model, we introduce the concept of characteristic surfaces. Then, we define the uniqueness domains, as being the greatest domains of the workspace in which there is unicity of solutions. The principal applications of this work are the design, the trajectory planning.

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