Inverse kinematic solutions for parallel robots with singularity robustness

被引：0

作者：

Hsiao, L ^{[1
]}

Perng, MH ^{[1
]}

机构：

[1] Natl Tsing Hua Univ, Dept Power Mech Engn, Hsinchu 30043, Taiwan

来源：

40TH MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1 AND 2 | 1998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：

Two inverse kinematic solutions with singularity robustness for parallel robot manipulators are proposed in this paper using, respectively, velocity constraint and force constraint. They are unified in a general damped least-squares method with feedback corrections are introduced to eliminate positioning error in resolved-rate control (ORRCFC). Both solutions are shown to be stable.

引用

页码：501 / 504

页数：4