DocumentCode :
1849754
Title :
Kinematic analysis of the hydraulic shoulder: a 3-DOF redundant parallel manipulator
Author :
Sadjadian, H. ; Taghirad, H.D.
Author_Institution :
Dept. of Electr. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran
Volume :
3
fYear :
2005
fDate :
2005
Firstpage :
1442
Abstract :
In this paper, kinematic modeling of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that the forward kinematics solution is a key element in closed loop position control of parallel manipulators. Using the novel idea of kinematic chains recently developed for parallel manipulators, both inverse and forward kinematics of our parallel manipulator are fully developed, and a closed-form solution for the forward kinematic map of the parallel manipulator is derived. The closed form solution is finally verified by simulated trajectories in the workspace of the manipulator.
Keywords :
closed loop systems; hydraulic systems; nonlinear equations; position control; redundant manipulators; 3-DOF redundant parallel manipulator; closed loop position control; forward kinematics; hydraulic shoulder; inverse kinematics; kinematic analysis; nonlinear equations; Actuators; Closed-form solution; Couplings; Kinematics; Leg; Manipulator dynamics; Medical robotics; Nonlinear equations; Parallel robots; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Conference_Location :
Niagara Falls, Ont., Canada
Print_ISBN :
0-7803-9044-X
Type :
conf
DOI :
10.1109/ICMA.2005.1626767
Filename :
1626767
Link To Document :
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