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
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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
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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 -