Analysis of the inverse kinematics problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion

Isaksson,ME, Eriksson,A and Nahavandi,S 2014, Analysis of the inverse kinematics problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion, in Proceedings of the 2014 IEEE International Conference on Robotics and Automation, IEEE, Piscataway, NJ, pp. 5736-5743, doi: 10.1109/ICRA.2014.6907702.

Attached Files
Name Description MIMEType Size Downloads

Title Analysis of the inverse kinematics problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion
Author(s) Isaksson,ME
Eriksson,A
Nahavandi,SORCID iD for Nahavandi,S orcid.org/0000-0002-0360-5270
Conference name Robotics and Automation. Conference (2014 : Hong Kong)
Conference location Hong Kong
Conference dates 2014/5/31 - 2014/6/7
Title of proceedings Proceedings of the 2014 IEEE International Conference on Robotics and Automation
Editor(s) Parker,L
Publication date 2014
Conference series Robotics and Automation Conference
Start page 5736
End page 5743
Total pages 8
Publisher IEEE
Place of publication Piscataway, NJ
Summary  Determining an analytical solution to the inverse kinematics problem for a parallel manipulator is typically a straightforward problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the inverse kinematics problem can be significantly more difficult. This paper contains an analysis of the inverse kinematics problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the inverse kinematics problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.
ISBN 9781479936854
Language eng
DOI 10.1109/ICRA.2014.6907702
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2014, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30072492

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 1 times in TR Web of Science
Scopus Citation Count Cited 4 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 340 Abstract Views, 4 File Downloads  -  Detailed Statistics
Created: Mon, 20 Apr 2015, 14:40:04 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.