Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators
- 1 September 1992
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 114 (3) , 438-443
- https://doi.org/10.1115/1.2926571
Abstract
A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic problem, yet only a few isolated examples of closed-form solution methods have been presented to date. This paper provides an overview to the general problem of inverse kinematic analysis of variable-geometry truss manipulators and presents new closed-form solution techniques for problems of practical importance.Keywords
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