Closed-form resolution of the direct kinematics of parallel manipulators using extra sensors data
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
In the most general case the measurement of the link lengths of a six-degree-of-freedom parallel manipulator is not sufficient to determine the actual unique posture of its platform. It is shown that by adding four sensors on the passive joints, a unique closed-form solution of the posture of the end-effector can be obtained for the most general case. It is shown that three sensors are sufficient for a particular mechanical architecture.Keywords
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