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
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.