Title :
Direct kinematics of parallel manipulators
Author_Institution :
Centre de Sophia-Antipolis, France
fDate :
12/1/1993 12:00:00 AM
Abstract :
The determination of the direct kinematics of fully parallel manipulators is in general a difficult problem but has to be solved for any practical use. Various methods are presented to solve this problem: two kinds of iterative schemes, a reduced iterative scheme, and a polynomial method. The computation time of these methods are compared and their various advantages are shown
Keywords :
iterative methods; kinematics; robots; direct kinematics; parallel manipulators; polynomial method; reduced iterative scheme; Angular velocity; Automatic control; Control theory; Iterative methods; Manipulators; Mobile robots; Robot control; Robot kinematics; Robotics and automation; Switches;
Journal_Title :
Robotics and Automation, IEEE Transactions on
