Closed-form direct position kinematics solution for a 3-RSR platform manipulator

被引：0

作者：

Zhou, B ^{[1
]}

Fang, H ^{[1
]}

Ren, L ^{[1
]}

Feng, ZR ^{[1
]}

机构：

[1] Xian Jiao Tong Univ, Syst Engn Inst, Xian 710049, Peoples R China

来源：

PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5 | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Mathematica. The dosed-form solution contains two different meanings -analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and the results are verified by an inverse kinematics analysis, It shows that the method has a practical value for realtime control.

引用

页码：1289 / 1294

页数：6

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