Inverse Kinematics for Planar Parallel Manipulators
Keyword(s):
Abstract This paper presents algebraic inverse position and velocity kinematics solutions for a broad class of three degree-of-freedom planar in-parallel-actuated manipulators. Given an end-effector pose and rate, all active and passive joint values and rates are calculated independently for each serial chain connecting the ground link to the end-effector link. The solutions are independent of joint actuation. Seven serial chains consisting of revolute and prismatic joints are identified and their inverse solutions presented. To reduce computations, inverse Jacobian matrices for overall manipulators are derived to give only actuated joint rates. This matrix yields conditions for invalid actuation schemes. Simulation examples are given.
2005 ◽
Vol 29
(3)
◽
pp. 343-356
◽
2014 ◽
Vol 602-605
◽
pp. 942-945
Keyword(s):
2006 ◽
Vol 220
(7)
◽
pp. 953-968
◽