Title :
Kinematics analysis and manipulability of closed-loop parallel manipulator with redundancy
Author :
Yu, Yong ; Pei, Zhanwu
Author_Institution :
Grad. Sch. of Sci. & Eng., Univ. of Kagoshima, Kagoshima, Japan
Abstract :
This paper focused on the kinematics analysis of the closed-loop parallel mechanism with redundancy, discussing its movements, DOFs and redundancy. The Jacobian matrix of this kind mechanism was derived from the structural constraint. One important characteristics was introduced, which the manipulability of parallel mechanism can be changed by selecting different Independent movement Joint.
Keywords :
Jacobian matrices; closed loop systems; manipulator kinematics; redundant manipulators; Jacobian matrix; closed loop parallel manipulator; independent movement joint; kinematics analysis; parallel mechanism manipulability; structural constraint; Automation; Intelligent control; Jacobian; Kinematics Analysis; Manipulability; Parallel Manipulator with Redundancy;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554428
