The Isotropic Decoupling of the Direct Kinematics of Parallel Manipulators under Sensor Redundancy

The kinematic decoupling of parallel manipulators using joint-sensor data

|In this paper we decouple the translational and rotational degrees of freedom of the end-e ector of parallel manipulators, and hence, decompose the direct kinematics problem into two simpler sub-problems. Most of the redundant joint-sensor layouts produce a linear decoupling equation expressing the least-square solution of position for a given orientation of the end-e ector. The resulting orie...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of threedegree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the jointrate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. The singular configurations of these matrices are studied. The is...

حل سینماتیک مستقیم روبات استوارت- گوف با استفاده از روش ترکیبی بهبود ‌یافته (ترکیب شبکه عصبی و نیوتن- رافسون مرتبه 3)

Many efforts have been done in recent years to decrease the required time for analysis of FKP (Forward Kinematics Problem) of parallel robots.This paper starts with developing kinematics of a parallel robot and finishes with a suggested algorithm to solve forward kinematics of robots. In this paper, by combining the artificial neural networks and a 3rd-order numerical algorithm, an improved ...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Control of Truss-based Manipulators Using Virtual Serial Models

This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant trussbased manipulators (TBMs), The Virtual Serial Manipulator Approach. The approach is to model complex in-parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematically-redundant serial manipulators c...