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
收藏
页码：1289 / 1294
页数：6
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