Parallel robots ∗
نویسنده
چکیده
8 Forward position kinematics 20 8.1 General parallel structure . . . . . . . . . . . . . . . . . . . . . . 20 8.2 FPK by leg length error minimization . . . . . . . . . . . . . . . 21 8.3 Closed-form FPK for 321 structure . . . . . . . . . . . . . . . . . 22 8.4 Closed-form FPK: sensing redundancy . . . . . . . . . . . . . . . 24 ∗This Chapter uses material from the Chapters on Serial robots and on Geometry. †This text is part of The Robotics WEBook , http://www.roble.info. Copyright is held by the authors, who release the text and the figures under the open content WEBook license. You are invited to improve and extend this text.
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