DocumentCode
2190558
Title
The analytical Jacobian and its derivative for a parallel manipulator
Author
Dutre, Stefan ; Bruyninckx, Herman ; Schutter, Joris De
Author_Institution
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
Volume
4
fYear
1997
fDate
20-25 Apr 1997
Firstpage
2961
Abstract
This paper finds an analytical expression for the Jacobian matrix of a parallel manipulator as well as for its derivatives (with respect to time or to a change in joint angles) of any order. The most important part in the presented procedures is the closed-form expression for the velocity closure equations of the manipulator
Keywords
Jacobian matrices; manipulator dynamics; manipulator kinematics; velocity control; Jacobian matrix; Stewart Gough platform; closed-form solution; derivative; dynamics; joint angles; joint velocity; kinematic chains; parallel manipulator; Acceleration; Calibration; End effectors; Equations; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Parallel robots; Terminology;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.606737
Filename
606737
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