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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

Standard

Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. / Schulz, Stefan; Seibel, Arthur; Schlattmann, Josef.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 968-973 8460544 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Schulz, S, Seibel, A & Schlattmann, J 2018, Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460544, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 968-973, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Queensland, Australia, 21.05.18. https://doi.org/10.1109/ICRA.2018.8460544

APA

Schulz, S., Seibel, A., & Schlattmann, J. (2018). Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 968-973). Article 8460544 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460544

Vancouver

Schulz S, Seibel A, Schlattmann J. Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 968-973. 8460544. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8460544

Bibtex

@inbook{b0dfd6e63ed542a192f8b364005cb7a3,
title = "Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism",
abstract = "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.",
keywords = "Engineering",
author = "Stefan Schulz and Arthur Seibel and Josef Schlattmann",
note = "Funding Information: This work was supported by the German Research Foundation (DFG) under grant SCHL 275/15-1 Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 : International forum for robotics researchers , ICRA18 ; Conference date: 21-05-2018 Through 26-05-2018",
year = "2018",
month = sep,
day = "10",
doi = "10.1109/ICRA.2018.8460544",
language = "English",
isbn = "978-1-5386-3080-8",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "968--973",
booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",
address = "United States",
url = "https://www.ieee-ras.org/component/rseventspro/event/570-icra-2018-ieee-international-conference-on-robotics-and-automation",

}

RIS

TY - CHAP

T1 - Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism

AU - Schulz, Stefan

AU - Seibel, Arthur

AU - Schlattmann, Josef

N1 - Conference code: 1

PY - 2018/9/10

Y1 - 2018/9/10

N2 - 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.

AB - 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.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85063143779&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/f3794ac2-a75c-3891-8637-b96d540583fa/

U2 - 10.1109/ICRA.2018.8460544

DO - 10.1109/ICRA.2018.8460544

M3 - Article in conference proceedings

AN - SCOPUS:85063143779

SN - 978-1-5386-3080-8

SN - 978-1-5386-3082-2

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 968

EP - 973

BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

Y2 - 21 May 2018 through 26 May 2018

ER -

Other publications by the same author(s)

Reduction of Sintering Distortion in Metal Binder Jetting: Measuring Friction Under Sintering Conditions

Blunk, H. & Seibel, A., 15.03.2025, In: Funtai Oyobi Fummatsu Yakin/Journal of the Japan Society of Powder and Powder Metallurgy. 72, Issue Supplement, p. S1475-S1479 5 p.

Research output: Journal contributions › Journal articles › Research › peer-review

Additive Manufacturing of Soft Robots

Weigand, F. & Seibel, A., 2023, Innovative Product Development by Additive Manufacturing 2021. Lachmayer, R., Bode, B. & Kaierle, S. (eds.). Cham: Springer International Publishing AG, p. 101-112 12 p.

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

A generalized α-level decomposition concept for numerical fuzzy calculus

Seibel, A. & Schlattmann, J., 10.2015, Proceedings of the 16th World Congress of the International Fuzzy Systems Association (IFSA) and 9th Conference of the European Society for Fuzzy Logic and Technology (EUSFLAT) 2015. Alonso, J. M., Reformat, M. & Bustince, H. (eds.). Atlantis Press, p. 137-140 4 p. (Advances in Intelligent Systems Research; vol. 89).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Aufbau und Organisation von Entwicklungsprojekten

Schlattmann, J. & Seibel, A., 2023, (Accepted/In press) 2. Aufl. ed. Berlin, Heidelberg: Springer. (Springer Reference Technik)

Research output: Books and anthologies › Book

Automated Design of 3D-Printed Silicone Parts: A Case Study on Hand Rehabilitation Gloves for Stroke Patients

Weigand, F., Föllmer, J. & Seibel, A., 2024, Industrializing Additive Manufacturing: Proceedings of AMPA2023. Klahn, C., Meboldt, M. & Ferchow, J. (eds.). Cham: Springer International Publishing AG, p. 213-224 12 p. (Springer Tracts in Additive Manufacturing).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

DOI

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