Parallel manipulator robots design and simulation
نویسندگان
چکیده
Parallel manipulator robots have complex kinematics and present singular positions within their workspace. For these reasons, in most software simulating parallel robots, each kinematic model should be given in advance by users or programmers. In this paper we present a new tool used to design and to simulate parallel manipulator robots. Explicit kinematic equations are generated automatically depending on the architecture of the robot. These equations are used to simulate and detect singularities while planning robot’s movement. Key-Words: Parallel manipulator robotssimulationsingularity detection.
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