Inverse kinematics and realtime control of A6-DOF parallel robot

Juan Hao; Jianmin Zhang; Dingguo Xiao; Yu Fan; Dongyun Jia

Inverse kinematics and realtime control of A6-DOF parallel robot

Juan Hao^*, Jianmin Zhang, Dingguo Xiao, Yu Fan, Dongyun Jia

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this article, the inverse kinematics of a parallel robot-BKX-I which has six degrees of freedom(6-DOF) is analyzed. An effective method to descript the position and orientation of the platform is derived using the position and orientation of the endeffector. According to the characteristics of BKX-I itself, two stages of interpolation are used in operating space and joint space individually. The muti-task CNC software is developed by Visual Basic 6.0 under windows 98 based on the before-mentioned algorithms. The machining experiment proves that both the kinematics analysis and the control algorithm are right.

Original language	English
Title of host publication	Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation
Pages	375-378
Number of pages	4
Publication status	Published - 2001
Event	Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation - Beijing, China Duration: 27 May 2001 → 30 May 2001

Publication series

Name	Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation

Conference

Conference	Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation
Country/Territory	China
City	Beijing
Period	27/05/01 → 30/05/01

Keywords

Control
Eular angle
Inverse kinematics
Parallel robot

Cite this

@inproceedings{3412d1dfba8d490d9b6a0c91aead3703,

title = "Inverse kinematics and realtime control of A6-DOF parallel robot",

abstract = "In this article, the inverse kinematics of a parallel robot-BKX-I which has six degrees of freedom(6-DOF) is analyzed. An effective method to descript the position and orientation of the platform is derived using the position and orientation of the endeffector. According to the characteristics of BKX-I itself, two stages of interpolation are used in operating space and joint space individually. The muti-task CNC software is developed by Visual Basic 6.0 under windows 98 based on the before-mentioned algorithms. The machining experiment proves that both the kinematics analysis and the control algorithm are right.",

keywords = "Control, Eular angle, Inverse kinematics, Parallel robot",

author = "Juan Hao and Jianmin Zhang and Dingguo Xiao and Yu Fan and Dongyun Jia",

year = "2001",

language = "English",

isbn = "9628553445",

series = "Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation",

pages = "375--378",

booktitle = "Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation",

note = "Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation ; Conference date: 27-05-2001 Through 30-05-2001",

}

Hao, J, Zhang, J, Xiao, D, Fan, Y & Jia, D 2001, Inverse kinematics and realtime control of A6-DOF parallel robot. in Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation. Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation, pp. 375-378, Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation, Beijing, China, 27/05/01.

Inverse kinematics and realtime control of A6-DOF parallel robot. / Hao, Juan; Zhang, Jianmin; Xiao, Dingguo et al.
Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation. 2001. p. 375-378 (Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Inverse kinematics and realtime control of A6-DOF parallel robot

AU - Hao, Juan

AU - Zhang, Jianmin

AU - Xiao, Dingguo

AU - Fan, Yu

AU - Jia, Dongyun

PY - 2001

Y1 - 2001

N2 - In this article, the inverse kinematics of a parallel robot-BKX-I which has six degrees of freedom(6-DOF) is analyzed. An effective method to descript the position and orientation of the platform is derived using the position and orientation of the endeffector. According to the characteristics of BKX-I itself, two stages of interpolation are used in operating space and joint space individually. The muti-task CNC software is developed by Visual Basic 6.0 under windows 98 based on the before-mentioned algorithms. The machining experiment proves that both the kinematics analysis and the control algorithm are right.

AB - In this article, the inverse kinematics of a parallel robot-BKX-I which has six degrees of freedom(6-DOF) is analyzed. An effective method to descript the position and orientation of the platform is derived using the position and orientation of the endeffector. According to the characteristics of BKX-I itself, two stages of interpolation are used in operating space and joint space individually. The muti-task CNC software is developed by Visual Basic 6.0 under windows 98 based on the before-mentioned algorithms. The machining experiment proves that both the kinematics analysis and the control algorithm are right.

KW - Control

KW - Eular angle

KW - Inverse kinematics

KW - Parallel robot

UR - http://www.scopus.com/inward/record.url?scp=0035786335&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0035786335

SN - 9628553445

T3 - Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation

SP - 375

EP - 378

BT - Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation

T2 - Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation

Y2 - 27 May 2001 through 30 May 2001

ER -

Inverse kinematics and realtime control of A6-DOF parallel robot

Abstract

Publication series

Conference

Keywords

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