The traditional methods for representing forward kinematics of manipulators have been the homogeneous matrix in line with the D-H algorithm. In this paper a new method known as quaternion algebra is described and it is used for three dimensional representation and orientation in robot kinematics. This method is compared with homogeneous transform in terms of easiness of representation, computat...

Inverse kinematics is computationally expensive and can result in significant control delays in real lime. Fur a redundant robot, additional computations are required for the inversekinematic solution through optimization schemes. Based on h e fact that humans do not compute exact inverse kinematics, but can do precise positioning from heuristics. we developed an inverse kinematic mapping &ugh ...

This paper presents the optimal mechanism design and dynamic analysis of a prototype 3-leg 6-DOF (degree-of-freedom) parallel manipulator. Inverse kinematics, forward kinematics, inverse dynamics and working space characterizing the platform motion are derived. In the presented architecture, the base platform has three linear slideways individually actuated by a synchronous linear servo motor, ...

The paper presents a new methodology for solving the inverse problem of manipulator precision design. Such design problems are often encountered when the end-effector uncertainty bounds are given, but it is not clear how to allocate precision bounds on individual robot axes. The approach presented in this paper uses interval analysis as a tool for uncertainty modelling and computational analysi...

In this paper, the kinematics and inverse dynamics of a novel kind of mechanism called a general 3-PRS parallel mechanism is investigated. In the kinematics study, the inverse kinematics solution is derived in closed form, and the forward kinematics problem is resolved by the Newton iterative method seeking for an on-line solution to this issue. The inverse dynamics analysis is approached with ...