Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-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 language | English |
|---|---|
| Title of host publication | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 |
| Number of pages | 6 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 10.09.2018 |
| Pages | 968-973 |
| Article number | 8460544 |
| ISBN (Print) | 978-1-5386-3080-8, 978-1-5386-3082-2 |
| ISBN (Electronic) | 978-1-5386-3081-5 |
| DOIs | |
| Publication status | Published - 10.09.2018 |
| Externally published | Yes |
| Event | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018: International forum for robotics researchers - Brisbane Convention & Exhibition Centre, Brisbane, Australia Duration: 21.05.2018 → 26.05.2018 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.
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