Numerical Implementation of the Kinematics for a 3-dof Parallel Robot Using Matlab
نویسندگان
چکیده
This paper presents a numerical implementation of inverse and direct kinematics of a 3-DOF parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using Matlab. The robot has two degrees of orientation freedom and one degree of translatory freedom. The inverse kinematics was expressed in term of Z-Y-Z Euler angles and direct kinematics was solved numerically using Newton-Kantorovich (N-K) method. A GUI was created using GUIDE tool from Matlab. Finally the results where verified using the GUI.
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