Closed-Form Resolution of the Direct Kinematics of Parallel Manipulators Using Extra Sensors Data
نویسنده
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.
منابع مشابه
A closed-form solution to the direct kinematics of nearly general parallel manipulators with optimally located three linear extra sensors
This paper presents a new closed-form solution of the direct kinematic problem of nearly general parallel manipulators by using three linear extra sensors. The sensors are disposed at optimal location, connecting the planar base and the planar mobile platform at distinct points. The basic idea is to use the coordinates of the three distinct anchor points of the extra sensors on the mobile platf...
متن کاملInverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کاملInverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کاملForward Position Kinematics of a Parallel Manipulator with New Architecture
The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...
متن کاملApplication of Wavelet Neural Network in Forward Kinematics Solution of 6-RSU Co-axial Parallel Mechanism Based on Final Prediction Error
Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...
متن کامل