Analytic Jacobian of in-parallel manipulators

Analytic Jacobian of in-parallel manipulators

A general formulation to obtain an analytic Jacobian matrix for in-parallel manipulators has not been developed yet, although several authors addressed it. This paper suggests a consistent approach to obtain the instantaneous kinematic relation of in-parallel manipulators, by extending the results o...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Proceedings - IEEE International Conference on Robotics and Automation 2000, Vol.3, p.2376-2381 vol.3
Hauptverfasser: Kim, D., Chung, W., Youm, Y.
Format: Artikel
Sprache:eng
Schlagworte:
Fasteners
Jacobian matrices
Kinematics
Leg
Manipulators
Mechanical engineering
Motion analysis
Robots
Symmetric matrices
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:A general formulation to obtain an analytic Jacobian matrix for in-parallel manipulators has not been developed yet, although several authors addressed it. This paper suggests a consistent approach to obtain the instantaneous kinematic relation of in-parallel manipulators, by extending the results of screw theory to the forward and inverse instantaneous relations, and gives a formula that can obtain a reciprocal screw analytically without considering geometric relations.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2000.846382