Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)

Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)

The paper proposes a mathematical method for redefining motion parameterizations based on the joint-space representation of parallel robots. The study parameters of SE(3) are used to describe the robot kinematic chains, but, rather than directly analyzing the mobile platform motion, the joint-space...

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Bibliographic Details
Main Authors: Iosif Birlescu, Manfred Husty, Calin Vaida, Bogdan Gherman, Paul Tucan, Doina Pisla
Format: Article
Language:English
Published: MDPI AG 2020-07-01
Series:Mathematics
Subjects:
motion parameterization
joint-space
parallel robot
medical robot
kinematics
Online Access:https://www.mdpi.com/2227-7390/8/7/1086

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