KINEMATIC AND SINGULARITY ANALYSIS OF THE HYDRAULIC SHOULDER - A 3-DOF Redundant Parallel Manipulator

H. Sadjadian, H. D. Taghirad

Abstract

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that the forward kinematics solution is a key element in closed loop position control of parallel manipulators. Using the novel idea of kinematic chains recently developed for parallel manipulators, both inverse and forward kinematics of our parallel manipulator are fully developed, and a closed-form solution for the forward kinematic map of the parallel manipulator is derived. The closed form solution is also obtained in detail for the Jacobian of the mechanism and singularity analysis of the manipulator is performed based on the computed Jacobian.

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Paper Citation


in Harvard Style

Sadjadian H. and D. Taghirad H. (2005). KINEMATIC AND SINGULARITY ANALYSIS OF THE HYDRAULIC SHOULDER - A 3-DOF Redundant Parallel Manipulator . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 125-131. DOI: 10.5220/0001185301250131


in Bibtex Style

@conference{icinco05,
author={H. Sadjadian and H. D. Taghirad},
title={KINEMATIC AND SINGULARITY ANALYSIS OF THE HYDRAULIC SHOULDER - A 3-DOF Redundant Parallel Manipulator},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={125-131},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001185301250131},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - KINEMATIC AND SINGULARITY ANALYSIS OF THE HYDRAULIC SHOULDER - A 3-DOF Redundant Parallel Manipulator
SN - 972-8865-30-9
AU - Sadjadian H.
AU - D. Taghirad H.
PY - 2005
SP - 125
EP - 131
DO - 10.5220/0001185301250131