Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

In general, it is not possible to determine the actual manipulator platform's pose of a parallel mechanism from its active joints' coordinates. This problem is usually solved by using additional numerical procedures or by additional system information from auxiliary sensors, providing several weaknesses including initial pose estimations, reference drives, or workspace limitations. In this paper, we therefore introduce a closed-form solution for the direct kinematics problem of the planar 3-RPR parallel mechanism by using only the orientations of two active joints and the manipulator platform, where P denotes active prismatic joints and R passive revolute joints.

OriginalspracheEnglisch
Titel2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Anzahl der Seiten6
VerlagInstitute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum10.09.2018
Seiten968-973
Aufsatznummer8460544
ISBN (Print)978-1-5386-3080-8, 978-1-5386-3082-2
ISBN (elektronisch)978-1-5386-3081-5
DOIs
PublikationsstatusErschienen - 10.09.2018
Extern publiziertJa
Veranstaltung2018 IEEE International Conference on Robotics and Automation, ICRA 2018: International forum for robotics researchers - Brisbane Convention & Exhibition Centre, Brisbane, Australien
Dauer: 21.05.201826.05.2018
Konferenznummer: 1
https://www.ieee-ras.org/component/rseventspro/event/570-icra-2018-ieee-international-conference-on-robotics-and-automation

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Publisher Copyright:
© 2018 IEEE.

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