DocumentCode
1864064
Title
Closed-form resolution of the direct kinematics of parallel manipulators using extra sensors data
Author
Merlet, Jean-Pierre
Author_Institution
INRIA, Sophia-Antipolis, France
fYear
1993
fDate
2-6 May 1993
Firstpage
200
Abstract
In the most general case the measurement of the link lengths of a six-degree-of-freedom parallel manipulator is not sufficient to determine the actual unique posture of its platform. It is shown that by adding four sensors on the passive joints, a unique closed-form solution of the posture of the end-effector can be obtained for the most general case. It is shown that three sensors are sufficient for a particular mechanical architecture
Keywords
detectors; kinematics; manipulators; closed-form solution; direct kinematics; end-effector; extra sensors data; link lengths; parallel manipulators; passive joints; passive legs; posture; six-degree-of-freedom; Closed-form solution; Hardware; Hydraulic actuators; Interference; Kinematics; Length measurement; Manipulators; Mechanical sensors; Position measurement; Sensor phenomena and characterization;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291983
Filename
291983
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