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Authors: Muhammad Saad Saleem 1 ; Ibrahim A. Sultan 1 and Asim A. Khan 2

Affiliations: 1 School of Science and Engineering, University of Ballarat, Australia ; 2 School of Electrical and Electronic Engineering, University of Manchester, United Kingdom

ISBN: 978-989-674-000-9

Keyword(s): Analytical kinematic function, Jacobian, Forward kinematics, Inverse kinematics, Closed-loop manipulators, Parallel manipulators, Operational space control.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics function relates the joint variables of the active joints to the position of end-effector. This paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RPR robot.

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Paper citation in several formats:
Saad Saleem M.; A. Sultan I.; A. Khan A. and (2009). ANALYTICAL KINEMATICS FRAMEWORK FOR THE CONTROL OF A PARALLEL MANIPULATOR - A Generalized Kinematics Framework for Parallel Manipulators.In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 280-286. DOI: 10.5220/0002214102800286

@conference{icinco09,
author={Muhammad {Saad Saleem} and Ibrahim {A. Sultan} and Asim {A. Khan}},
title={ANALYTICAL KINEMATICS FRAMEWORK FOR THE CONTROL OF A PARALLEL MANIPULATOR - A Generalized Kinematics Framework for Parallel Manipulators},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={280-286},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002214102800286},
isbn={978-989-674-000-9},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ANALYTICAL KINEMATICS FRAMEWORK FOR THE CONTROL OF A PARALLEL MANIPULATOR - A Generalized Kinematics Framework for Parallel Manipulators
SN - 978-989-674-000-9
AU - Saad Saleem, M.
AU - A. Sultan, I.
AU - A. Khan, A.
PY - 2009
SP - 280
EP - 286
DO - 10.5220/0002214102800286

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