Forward kinematics for 6-UPS parallel robot using extra displacement sensor

Forward kinematics for 6-UPS parallel robot using extra displacement sensor

Many assembly modes exist due to multi-solutions for forward kinematics of 6-UPS parallel robot. However, the existing theoretical research results have not been well applied to the real-time control, because of the complexity of the forward kinematics. This paper proposes an analytic algorithm to e...

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Bibliographic Details
Main Authors: Yanli LIU, Hongtao WU, Hairui LIU, Bai CHEN, Jiafeng YAO, Yaoyao WANG
Format: Article
Language:English
Published: The Japan Society of Mechanical Engineers 2018-12-01
Series:Journal of Advanced Mechanical Design, Systems, and Manufacturing
Subjects:
parallel robot
forward kinematics
extra displacement sensor
unit quaternion
orthogonal complement method
analytical algorithm
Online Access:https://www.jstage.jst.go.jp/article/jamdsm/12/7/12_2018jamdsm0130/_pdf/-char/en

Internet

https://www.jstage.jst.go.jp/article/jamdsm/12/7/12_2018jamdsm0130/_pdf/-char/en

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