Title :
Comments on "Closed form forward kinematics solution to a class of hexapod robots"
Author :
Bruyninckx, Herman ; De Schutter, Joris
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
Abstract :
The paper above by Yang and Geng (1998) presents a class of parallel manipulators that has an efficient closed form solution to its forward kinematics. This Correspondence points to some missing insights in that paper (and in many others), especially with respect to singular configurations.
Keywords :
Jacobian matrices; geometry; legged locomotion; manipulator kinematics; closed form forward kinematics solution; hexapod robots; parallel manipulators; singular configurations; Closed-form solution; End effectors; Equations; Geometry; Jacobian matrices; Kinematics; Manipulators; Mirrors; Parallel robots; Transmission line matrix methods;
Journal_Title :
Robotics and Automation, IEEE Transactions on
