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

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

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.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date10.09.2018
Pages968-973
Article number8460544
ISBN (print)978-1-5386-3080-8, 978-1-5386-3082-2
ISBN (electronic)978-1-5386-3081-5
DOIs
Publication statusPublished - 10.09.2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018: International forum for robotics researchers - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21.05.201826.05.2018
Conference number: 1
https://www.ieee-ras.org/component/rseventspro/event/570-icra-2018-ieee-international-conference-on-robotics-and-automation

Bibliographical note

Funding Information:
This work was supported by the German Research Foundation (DFG) under grant SCHL 275/15-1

Publisher Copyright:
© 2018 IEEE.