Abstract
This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Mathematica. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and the results are verified by au inverse kinematics analysis. It shows that the method has a practical value for real-time control.
| Original language | English |
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| Pages | 1289-1294 |
| Number of pages | 6 |
| Publication status | Published - 2000 |
| Externally published | Yes |
| Event | Proceedings of the 3th World Congress on Intelligent Control and Automation - Hefei, China Duration: 28 Jun 2000 → 2 Jul 2000 |
Conference
| Conference | Proceedings of the 3th World Congress on Intelligent Control and Automation |
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| Country/Territory | China |
| City | Hefei |
| Period | 28/06/00 → 2/07/00 |