The Direct Kinematics for Path Control of Redundant Parallel Robots

The parallel robots seem to be one of the promising ways to improve accuracy and speed. At their development some new problems appear. This paper deals with design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this considerably simplifies model of the robot and consecutively computation of high level control based on knowledge of such model. As a subtask of design of the direct kinematics, the trajectory planning is discussed. Key-Words: Direct Kinematics, Planar redundant parallel robot, Nonlinear system, DAE-ODE equations, Trajectory.