Paper Info
Title
The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm
Abstract
This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-of-freedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical and a geometric Jacobian, and a manipulability analysis along the various workspace directions is developed using the concept of force and velocity ellipsoids. A Jacobian-based Closed-Loop Direct Kinematics (CLDK) algorithm is presented to solve the direct kinematics problem along a given trajectory. Simulation results are illustrated for an industrial robot of the Tricept family.
Year
DOI
Venue
1999
10.1017/S0263574799001678
Robotica
Keywords
Field
DocType
industrial robot,direct kinematics problem,Jacobian-based Closed-Loop Direct Kinematics,various workspace direction,Tricept robot,manipulability analysis,inverse kinematics equation,inverse differential kinematics,geometric Jacobian,Tricept family,closed-loop direct kinematics algorithm,robot workspace
Parallel manipulator,Kinematics,Inverse kinematics,Jacobian matrix and determinant,Control theory,Control engineering,Engineering,Robot
Journal
Volume
Issue
ISSN
17
4
0263-5747
Citations 
PageRank 
References 
43
4.71
3
Authors
1
Name
Order
Citations
PageRank
Bruno Siciliano119220.09