DocumentCode
300017
Title
The isotropic decoupling of the direct kinematics of parallel manipulators under sensor redundancy
Author
Baron, Luc ; Angeles, Jorge
Author_Institution
Dept. of Mech. Eng., Ecole Polytech., Montreal, Que., Canada
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
1541
Abstract
Using redundant sensors, the direct kinematics of general parallel manipulators is here decoupled and reduced to an orientation problem only. The accuracy of the decoupling depends on the condition number of a decoupling matrix. The conditions under which this matrix is isotropic are derived and illustrated with a numerical example
Keywords
manipulator kinematics; minimisation; redundancy; condition number; decoupling matrix; direct kinematics; isotropic decoupling; orientation problem; parallel manipulators; sensor redundancy; Bismuth; Equations; Intelligent sensors; Jacobian matrices; Kinematics; Leg; Manipulators; Mechanical engineering; Mechanical sensors; Position measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525494
Filename
525494
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