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Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002
In this paper a general method is presented, based on the data of three point positions, velocities and accelerations of the end effector, for solving the forward kinematics problem of any platform-type manipulator, including the 6 DOF Stewart Platform. Numerical examples are included to demonstrate the application of the method.
Xiaolun Shi, Robert G. Fenton
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In this paper a general method is presented, based on the data of three point positions, velocities and accelerations of the end effector, for solving the forward kinematics problem of any platform-type manipulator, including the 6 DOF Stewart Platform. Numerical examples are included to demonstrate the application of the method.
Xiaolun Shi, Robert G. Fenton
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Singularity analysis of planar parallel manipulators based on forward kinematic solutions
Mechanism and Machine Theory, 2009zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Firmani, Flavio, Podhorodeski, Ron P.
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Closed-form forward kinematics solutions of a 4-DOF parallel robot
International Journal of Control, Automation and Systems, 2009It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4.
Hee-Byoung Choi +2 more
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Forward and Inverse Kinematic Solutions of a New Three Dimensional Metrology Frame
Manufacturing Science and Engineering: Volume 2, 1997Abstract A concept for a three dimensional, non-contacting metrology system is presented. Both the forward and the inverse kinematics solutions for the system are developed using a line geometry, resulting in an efficient representation that may describe a general assembly of the kinematic system and error parameters determined through ...
Dale E. Schinstock, James F. Cuttino
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Solution to the forward instantaneous kinematics for a general 6-DOF Stewart platform
Mechanism and Machine Theory, 1992Abstract In this paper a method is presented for solving the forward instanteneous kinematics of a general 6-DOFStewart Platform. The method, which is general and easy to implement, is based on the velocities of three non-collinear points of the end effector.
X Shi, R.G Fenton
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Forward kinematic solution through geometry analysis for rehabilitation cable robot
The 7th 2014 Biomedical Engineering International Conference, 2014We have an interest in the forward kinematic solution of a three-DOF cable-driven parallel end effecter for rehabilitation of the upper limbs. Although to solve the forward kinematic solution is to decide the position and orientation of end effecter by using four given cable lengths, it is well known that it is difficult to make sure the only solution ...
Hieyong Jeong +5 more
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Design of length measuring system for Stewart platform using new forward kinematics solution
2010 11th International Conference on Control Automation Robotics & Vision, 2010In this paper, based on new presented approach for forward kinematic problem, length measuring system for Stewart platform is designed. The analysis is performed by using a software platform which models the system dynamics and control. A typical feedback linearization method is used to design the controller system and performance of designed ...
Hamid Rezvani Dastgerdi, Mehdi Keshmiri
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Robotica, 2011
SUMMARYContrary to the inverse kinematics, the forward kinematics of parallel manipulators involves solving highly non-linear equations and provides more than one feasible end-effector pose, which are called the assembly modes, for a given set of link lengths or joint angles.
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SUMMARYContrary to the inverse kinematics, the forward kinematics of parallel manipulators involves solving highly non-linear equations and provides more than one feasible end-effector pose, which are called the assembly modes, for a given set of link lengths or joint angles.
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Real-Time Solutions to the Forward Kinematics of a 2RSS + RRR Parallel Mechanism
2016In this paper, we propose a new parallel mechanism designed for haptic interface. The haptic device consists of a 2RSS + RRR parallel mechanism with 3 degrees of freedom. In general, the control of haptic devices requires a high servo rate up to 1 kHz which demands a fast and real-time solution to the forward kinematics. Newton–Raphson method is one of
Hongdong Zhang +2 more
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Solution of the Forward Kinematics of Parallel Robots Based on Constraint Curves
2022Adrián Peidró +4 more
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