• DocumentCode
    315559
  • Title

    A singularity-consistent parametrization based direct kinematics algorithm for a class of parallel manipulators

  • Author

    Bhattacharya, S. ; Nenchev, D.N. ; Uchiyama, M.

  • Author_Institution
    Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
  • Volume
    3
  • fYear
    1997
  • fDate
    20-25 Apr 1997
  • Firstpage
    2671
  • Abstract
    A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples given
  • Keywords
    control system analysis computing; convergence of numerical methods; iterative methods; manipulator kinematics; tracking; convergence; direct kinematics; iterative method; parallel manipulators; real time system; singularity-consistent parametrization; tracking; Algorithm design and analysis; Geometry; Iterative algorithms; Iterative methods; Kinematics; Motion analysis; Null space; Performance analysis; Upper bound;
  • 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.1997.619364
  • Filename
    619364
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=315559