ANALYTICAL KINEMATICS FRAMEWORK FOR THE CONTROL OF A PARALLEL MANIPULATOR - A Generalized Kinematics Framework for Parallel Manipulators

Muhammad Saad Saleem, Ibrahim A. Sultan, Asim A. Khan

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.

References

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Paper Citation


in Harvard Style

Saad Saleem M., A. Sultan I. and A. Khan A. (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


in Bibtex Style

@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},
}


in EndNote Style

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