loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: H. Sadjadian and H. D. Taghirad

Affiliation: K.N. Toosi University of Technology, Iran, Islamic Republic of

Keyword(s): Parallel Manipulator, Kinematic Modeling, Forward Kinematics, Jacobian, Singularity Analysis.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.234.83.135

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 125-131. DOI: 10.5220/0001185301250131

@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 3: ICINCO},
year={2005},
pages={125-131},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001185301250131},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - KINEMATIC AND SINGULARITY ANALYSIS OF THE HYDRAULIC SHOULDER - A 3-DOF Redundant Parallel Manipulator
SN - 972-8865-30-9
IS - 2184-2809
AU - Sadjadian, H.
AU - D. Taghirad, H.
PY - 2005
SP - 125
EP - 131
DO - 10.5220/0001185301250131
PB - SciTePress