DocumentCode
1687096
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
fYear
2010
Firstpage
2041
Lastpage
2046
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location
Jinan
Print_ISBN
978-1-4244-6712-9
Type
conf
DOI
10.1109/WCICA.2010.5554428
Filename
5554428
Link To Document