Paper Info
Title
Online motion monitoring for a class of 3-legged 6-DOF parallel robots
Abstract
Based on the local product-of-exponentials (POE) formula, this paper proposes an effective approach to solve the inverse displacement analysis for a class of modular 3-legged parallel robots by Paden-Kahan sub-problems. Since passive joint displacements can be solved together with solving active joint, so that the solved passive joint displacements can be regarded as guess solution to calculate forward kinematics by traditional numerical solution method. Through comparing with traditional iterative numerical solution method, proposed approach can evidently improve computation efficiency for forward kinematics. The effectiveness of the proposed approach has been demonstrated by machining demonstrations with online motion monitoring for a workpiece with spherical surface.
Year
DOI
Venue
2005
10.1109/ICSMC.2005.1571382
SMC
Keywords
Field
DocType
parallel robots,passive joint displacement,motion control,inverse displacement analysis,machining demonstration,legged locomotion,modular robots,product-of-exponential formula,online motion monitoring,3-legged 6-dof parallel robot,path planning,modular robot,forward kinematics,iterative methods,iterative numerical solution,parallel robot
Motion planning,Parallel manipulator,Robot control,Motion control,Inverse kinematics,Iterative method,Control theory,Computer science,Forward kinematics,Computation
Conference
Volume
Issue
ISSN
2
null
1062-922X
ISBN
Citations 
PageRank 
0-7803-9298-1
0
0.34
References 
Authors
5
4
Name
Order
Citations
PageRank
Shouqian Yu182.45
Chen Weihai219038.21
Guilin Yang316942.24
Wei Lin47914.50