Closed-Form Resolution of the Direct Kinematics of Parallel Manipulators Using Extra Sensors Data

نویسنده

  • Jean-Pierre Merlet
چکیده

In the most general case the measurement of the links lengths of a 6 d.o.f parallel manipulator is not sufficient to determine the actual unique posture of its platform. We investigate how this posture can be determined by adding sensors to the manipulator. We show that by adding four sensors on the passive joints a unique closed-form solution of the posture of the endeffector can be obtained for the most general case. We show that three sensors are sufficient for a particular mechanical architecture.

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تاریخ انتشار 1993