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Analysis of The inverse kinematics problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion

conference contribution
posted on 2014-09-22, 00:00 authored by Mats Isaksson, A Eriksson, Saeid Nahavandi
Determining an analytical solution To The inverse kinematics problem for a parallel manipulator is Typically a straightforward problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, The inverse kinematics problem can be significantly more difficult. This paper contains an analysis of The inverse kinematics problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in The studied class exhibit parasitic motion in one DOF. For manipulators in The studied class, The general solution To The inverse kinematics problem is reduced To solving a univariate equation, while analytical solutions are presented for several important special cases.

History

Pagination

5736 - 5743

ISSN

1050-4729

ISBN-13

9781479936854

Publication classification

E Conference publication; E1 Full written paper - refereed

Copyright notice

2014, IEEE

Title of proceedings

Proceedings - IEEE International Conference on Robotics and Automation

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